Ian Krase / PolyServo

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Dependents:   Quadrapod

PolyServo.h@9:a40eac6bdfae, 2015-07-04 (annotated)

Committer:
ikrase
Date:
Sat Jul 04 07:11:33 2015 +0000
Revision:
9:a40eac6bdfae
Parent:
8:c09ae4fef420 
Compiles now, still need to check.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ikrase 0:6105cf98b610 1 #ifndef POLYSERVO_H
ikrase 0:6105cf98b610 2 #define POLYSERVO_H
ikrase 0:6105cf98b610 3
ikrase 0:6105cf98b610 4 #include "mbed.h"
ikrase 8:c09ae4fef420 5 //#include "FPointer.h"
ikrase 0:6105cf98b610 6 #include <vector>
ikrase 6:bad5554bb890 7 //#include "SpecifiedTimeout.h"
ikrase 0:6105cf98b610 8
ikrase 0:6105cf98b610 9
ikrase 0:6105cf98b610 10 #define SERVO_DISABLED -1 // This is going to take raw servo microsecond entries.
ikrase 2:f982504e6e84 11 #define PPM_PERIOD 20000 // In microseconds
ikrase 8:c09ae4fef420 12 #define NUM_SERVOS 12
ikrase 0:6105cf98b610 13
ikrase 9:a40eac6bdfae 14 //void servo_set(int id);
ikrase 7:f9e1e813fa24 15
ikrase 7:f9e1e813fa24 16
ikrase 0:6105cf98b610 17 class Polyservo {
ikrase 0:6105cf98b610 18 public:
ikrase 0:6105cf98b610 19
ikrase 0:6105cf98b610 20 std::vector<DigitalOut *> servos;
ikrase 0:6105cf98b610 21 //DigitalOut * servos;
ikrase 0:6105cf98b610 22
ikrase 8:c09ae4fef420 23 //bool global_enable;
ikrase 8:c09ae4fef420 24 int positions[NUM_SERVOS];
ikrase 0:6105cf98b610 25 int numservos;
ikrase 8:c09ae4fef420 26 void disable();
ikrase 8:c09ae4fef420 27 void enable();
ikrase 0:6105cf98b610 28
ikrase 8:c09ae4fef420 29 Polyservo(DigitalOut servo_pins[]);
ikrase 1:1135f0b1566e 30 void set_position(int s, int pos);
ikrase 0:6105cf98b610 31
ikrase 9:a40eac6bdfae 32 typedef void (Polyservo::*PolyservoMbr)(void);
ikrase 9:a40eac6bdfae 33
ikrase 9:a40eac6bdfae 34
ikrase 0:6105cf98b610 35
ikrase 0:6105cf98b610 36
ikrase 0:6105cf98b610 37
ikrase 0:6105cf98b610 38
ikrase 0:6105cf98b610 39 private:
ikrase 0:6105cf98b610 40
ikrase 0:6105cf98b610 41 Ticker period_tick;
ikrase 1:1135f0b1566e 42 std::vector<Timeout *> servo_timers;
ikrase 0:6105cf98b610 43 //Timeout * servo_times;
ikrase 0:6105cf98b610 44
ikrase 7:f9e1e813fa24 45 //void servo_set(int id);
ikrase 1:1135f0b1566e 46
ikrase 1:1135f0b1566e 47 void servos_reset(void);
ikrase 1:1135f0b1566e 48
ikrase 8:c09ae4fef420 49 bool global_enable;
ikrase 8:c09ae4fef420 50
ikrase 8:c09ae4fef420 51 void servo0_set(void);
ikrase 8:c09ae4fef420 52 void servo1_set(void);
ikrase 8:c09ae4fef420 53 void servo2_set(void);
ikrase 8:c09ae4fef420 54 void servo3_set(void);
ikrase 8:c09ae4fef420 55 void servo4_set(void);
ikrase 8:c09ae4fef420 56 void servo5_set(void);
ikrase 8:c09ae4fef420 57 void servo6_set(void);
ikrase 8:c09ae4fef420 58 void servo7_set(void);
ikrase 8:c09ae4fef420 59 void servo8_set(void);
ikrase 8:c09ae4fef420 60 void servo9_set(void);
ikrase 8:c09ae4fef420 61 void servo10_set(void);
ikrase 8:c09ae4fef420 62 void servo11_set(void);
ikrase 8:c09ae4fef420 63 //void servo12_set(void);
ikrase 6:bad5554bb890 64
ikrase 9:a40eac6bdfae 65
ikrase 9:a40eac6bdfae 66
ikrase 9:a40eac6bdfae 67 //void (Polyservo::*)(void) myPtr;
ikrase 9:a40eac6bdfae 68 PolyservoMbr servo_sets[12];
ikrase 9:a40eac6bdfae 69
ikrase 8:c09ae4fef420 70
ikrase 6:bad5554bb890 71
ikrase 6:bad5554bb890 72
ikrase 6:bad5554bb890 73
ikrase 6:bad5554bb890 74
ikrase 6:bad5554bb890 75
ikrase 0:6105cf98b610 76
ikrase 0:6105cf98b610 77
ikrase 0:6105cf98b610 78
ikrase 0:6105cf98b610 79
ikrase 0:6105cf98b610 80
ikrase 0:6105cf98b610 81
ikrase 0:6105cf98b610 82
ikrase 0:6105cf98b610 83 };
ikrase 0:6105cf98b610 84
ikrase 0:6105cf98b610 85
ikrase 0:6105cf98b610 86
ikrase 9:a40eac6bdfae 87
ikrase 0:6105cf98b610 88 #endif