Complete library that let you control and read your servo's in all ways: position, degrees, step.You can define also min and max position. It is also compatibile with Simon Ford's Servo library calls
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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
Servo.cpp | Show annotated file Show diff for this revision Revisions of this file |
Servo.h | Show annotated file Show diff for this revision Revisions of this file |
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