Revision 0:88fd1c2402c9, committed 2013-06-13

Comitter:

dury

Date:

Thu Jun 13 17:54:36 2013 +0000

Commit message:

Servo library let you control: position, degrees, step.You can define also min and max position.; It is also compatibile with Simon Ford's Servo library calls

Changed in this revision

diff -r 000000000000 -r 88fd1c2402c9 Servo.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.cpp	Thu Jun 13 17:54:36 2013 +0000
@@ -0,0 +1,161 @@
+/* mbed R/C Servo Library
+ *  
+ * Copyright (c) 2013 Fabio Durigon
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+ 
+#include "Servo.h"
+#include "mbed.h"
+
+Servo::Servo(PinName pin) : pwmout(pin)
+{
+    // Default values for common servos
+    DefinePulseTotal(0.001,90);
+}
+
+float Servo::Write(float Pos)
+{
+    // Normalize range
+    if (Pos < 0) Pos=0;
+    else if (Pos > 1) Pos=1;
+    
+    currpos=Pos;
+    currdegrees=(currpos*degreesrange)-degreeshrange;
+    float pulsewidth=(currpos*pulserange)+pulsemin;
+    pwmout.pulsewidth(pulsewidth);
+    
+    return(pulsewidth);
+}
+
+float Servo::write(float Pos)
+{
+    return(Write(Pos));
+}
+
+float Servo::WriteDegrees(float Degrees)
+{
+    // Normalize Degrees
+    if (Degrees < -degreeshrange) Degrees=-degreeshrange;
+    else if (Degrees > degreeshrange) Degrees=degreeshrange;
+    
+    currdegrees=Degrees;
+    currpos=(currdegrees+degreeshrange)/degreesrange;
+    float pulsewidth=(currpos*pulserange)+pulsemin;
+    pwmout.pulsewidth(pulsewidth);
+    
+    return(currdegrees);
+}
+
+void Servo::DefinePulseMin(float PulseSec, float Degrees)
+{
+    pulsemin=PulseSec;
+    pulserange=pulsemax-pulsemin;
+    degreesmin=Degrees;
+    degreesrange=degreesmax-degreesmin;
+    degreeshrange=degreesrange/2;
+}
+
+void Servo::DefinePulseMax(float PulseSec, float Degrees)
+{
+    pulsemax=PulseSec;
+    pulserange=pulsemax-pulsemin;
+    degreesmax=Degrees;
+    degreesrange=degreesmax-degreesmin;
+    degreeshrange=degreesrange/2;
+}
+
+void Servo::DefinePulseTotal(float TotPulseSec, float TotDegrees)
+{
+    pulserange=TotPulseSec;
+    // set min and max taking 1.5 ms as default center pulsewidth
+    pulsemin=0.0015-(TotPulseSec/2);
+    pulsemax=0.0015+(TotPulseSec/2);
+    
+    degreesrange=TotDegrees;
+    degreeshrange=TotDegrees/2;
+    // set min and max taking 0° as center degree
+    degreesmin=-degreeshrange;
+    degreesmax=degreeshrange;
+}
+
+float Servo::Read(void)
+{
+    return(currpos);
+}
+
+float Servo::read(void)
+{
+    return(currpos);
+}
+
+unsigned char Servo::ReadByte(void)
+{
+    return(currpos*255); // convert value <0.0 - 1.0> to <0 - 255>
+}
+
+float Servo::ReadDegrees(void)
+{
+    return(currdegrees);
+}
+
+float Servo::ReadPulseMin(void)
+{
+    return(pulsemin);
+}
+
+float Servo::ReadPulseMax(void)
+{
+    return(pulsemax);
+}
+
+float Servo::ReadDegreesMin(void)
+{
+    return(degreesmin);
+}
+
+float Servo::ReadDegreesMax(void)
+{
+    return(degreesmax);
+}    
+
+Servo& Servo::operator= (float Range) { 
+    Write(Range);
+    return *this;
+}
+
+Servo& Servo::operator= (Servo& sobj) {
+    Write(sobj.Read());
+    return *this;
+}
+
+Servo::operator float() {
+    return Read();
+}
+
+/*
+// Debug Prints
+void Servo::PrintValues(void)
+{
+    printf("SERVOLIB: currpos = %f, currdegrees = %f\r\n", currpos, currdegrees);
+    printf("SERVOLIB: pulsemin = %f, degreesmin = %f\r\n", pulsemin, degreesmin);
+    printf("SERVOLIB: pulsemax = %f degreesmax = %f\r\n", pulsemax, degreesmax);
+    printf("SERVOLIB: pulserange = %f degreesrange = %f degreeshrange = %f\r\n", pulserange, degreesrange, degreeshrange);
+}
+*/
\ No newline at end of file

diff -r 000000000000 -r 88fd1c2402c9 Servo.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.h	Thu Jun 13 17:54:36 2013 +0000
@@ -0,0 +1,147 @@
+/* mbed R/C Servo Library
+ *
+ * Copyright (c) 2013 Fabio Durigon
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+  
+#ifndef MBED_SERVO_H
+#define MBED_SERVO_H
+
+#include "mbed.h"
+
+/** Library to control a Servo via pwm pin*/
+class Servo{
+    public:
+        /** Create a Servo object
+        *
+        * @param Pin Pwm output pin
+        */
+        Servo(PinName Pin);
+        
+        /** Set servo position in range from 0.0 to 1.0
+        *
+        * @param range ablosute position from 0.0 to 1.0
+        * 0.0 Full left position
+        * 0.5 Centre position
+        * 1.0 Full right position
+        *
+        * @return normalized position
+        */
+        float Write(float Pos);
+        //! write() version for compatibility with Simon Ford's Servo Library
+        float write(float Pos);
+        
+        /** Set servo position in Degrees where 0 is the centre position
+        * @param Degrees Degrees inside the "Degrees Range"
+        *
+        * @return normalized Degrees
+        *
+        * @code
+        * servo.WriteDegrees(-45); 
+        * @endcode
+        */
+        float WriteDegrees(float Degrees);
+        
+        /** Set the pulsewidth in secs and measured degrees for this servo to reach the minimum position (max escursion to the left)
+        *
+        * @param PulseSec Pulsewitdh in sec
+        * @param Degrees Degrees associated to pulsewidth
+        */
+        void DefinePulseMin(float PulseSec, float Degrees);
+        
+        /** Set the pulsewidth in secs and measured degrees for this servo to reach the maximum position (max escursion to the right)
+        *
+        * @param PulseSec Pulsewitdh in sec
+        * @param Degrees Degrees associated to pulsewidth
+        */
+        void DefinePulseMax(float PulseSec, float Degrees);
+        
+        /** Set total range in secs for the entire excursion(from pulsemin to pulsemax) associated to degrees excursion.
+        *   Central position of servo is PulseSec/2 or Degrres/2.
+        *
+        * @param TotPulseSec Pulsewitdh in sec from min position to max position
+        * @param Degrees Total Degrees associated to TotPulseSec
+        */
+        void DefinePulseTotal(float TotPulseSec, float TotDegrees);
+        
+        /** Read current position
+        *
+        * @return Current position within range from 0.0 to 1.0
+        */
+        float Read(void);
+        //! read() version for compatibility with Simon Ford's Servo Library
+        float read(void);
+        
+        /** Read current position in BYTE number
+        *
+        * @return Current position within range from 0 to 255
+        */
+        unsigned char ReadByte(void);
+        
+        /** Read current Degrees
+        *
+        * @return Current position in Degrees within range of Degrees
+        */
+        float ReadDegrees(void);
+        
+        /** Read the current pulsemin
+        *
+        * @return Current pulsewith for min position
+        */
+        float ReadPulseMin(void);
+        
+        /** Read the current pulsemax
+        *
+        * @return Current pulsewith for max position
+        */
+        float ReadPulseMax(void);
+        
+        /** Read current degreemin
+        *
+        * @return Current Degrees associated to current pulsemin
+        */
+        float ReadDegreesMin(void);
+        
+        /** Read current degreemax
+        *
+        * @return Current Degrees associated to current pulsemax
+        */
+        float ReadDegreesMax(void);
+        
+        /**  Shorthand for the write and read functions */
+        Servo& operator= (float range);
+        Servo& operator= (Servo& rhs);
+        operator float();
+        
+        void PrintValues(void);
+        
+        private:
+            PwmOut pwmout;
+            float currpos;
+            float currdegrees;
+            float pulsemin;
+            float pulsemax;
+            float pulserange;
+            float degreesmin;
+            float degreesmax;
+            float degreesrange;
+            float degreeshrange;
+};
+#endif
\ No newline at end of file