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Dependencies: ArthropodIK MMA8451Q MODSERIAL TSI TextLCD mbed-rtos mbed
Fork of
Quadrapod
by 
Ian Krase
Diff: PolyServo/PolyServo.h
- Revision:
- 7:68e488d28f67
- Parent:
- 6:ad53aa8b7b30
--- a/PolyServo/PolyServo.h Fri Jun 26 04:23:14 2015 +0000
+++ b/PolyServo/PolyServo.h Fri Jun 26 08:10:33 2015 +0000
@@ -2,8 +2,43 @@
#define POLYSERVO_H
#include "mbed.h"
+#include <vector>
+#define SERVO_DISABLED -1 // This is going to take raw servo microsecond entries.
+#define SERVO_PPM_PERIOD 20000 // In microseconds
+
+class Polyservo {
+public:
+
+ std::vector<DigitalOut *> servos;
+ //DigitalOut * servos;
+
+ bool global_enable;
+ int position[];
+ int numservos;
+
+ Polyservo(DigitalOut servo_pins[], int num_pins);
+ void set_position(int pos);
+
+
+
+
+
+private:
+
+ Ticker period_tick;
+ std::vector<Timeout *> servo_times;
+ //Timeout * servo_times;
+
+
+
+
+
+
+
+
+};