Ian Krase / PolyServo

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Dependents:   Quadrapod

PolyServo.h@6:bad5554bb890, 2015-07-02 (annotated)

Committer:
ikrase
Date:
Thu Jul 02 08:53:32 2015 +0000
Revision:
6:bad5554bb890
Parent:
3:1d16a22386a8
Child:
7:f9e1e813fa24
Started work on template wrapper, far from done.

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 1:1135f0b1566e 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 0:6105cf98b610 12
ikrase 0:6105cf98b610 13 class Polyservo {
ikrase 0:6105cf98b610 14 public:
ikrase 0:6105cf98b610 15
ikrase 0:6105cf98b610 16 std::vector<DigitalOut *> servos;
ikrase 0:6105cf98b610 17 //DigitalOut * servos;
ikrase 0:6105cf98b610 18
ikrase 0:6105cf98b610 19 bool global_enable;
ikrase 1:1135f0b1566e 20 std::vector<int> positions;
ikrase 0:6105cf98b610 21 int numservos;
ikrase 0:6105cf98b610 22
ikrase 0:6105cf98b610 23 Polyservo(DigitalOut servo_pins[], int num_pins);
ikrase 1:1135f0b1566e 24 void set_position(int s, int pos);
ikrase 0:6105cf98b610 25
ikrase 0:6105cf98b610 26
ikrase 0:6105cf98b610 27
ikrase 0:6105cf98b610 28
ikrase 0:6105cf98b610 29
ikrase 0:6105cf98b610 30 private:
ikrase 0:6105cf98b610 31
ikrase 0:6105cf98b610 32 Ticker period_tick;
ikrase 1:1135f0b1566e 33 std::vector<Timeout *> servo_timers;
ikrase 0:6105cf98b610 34 //Timeout * servo_times;
ikrase 0:6105cf98b610 35
ikrase 6:bad5554bb890 36 void servo_set(int id);
ikrase 1:1135f0b1566e 37
ikrase 1:1135f0b1566e 38 void servos_reset(void);
ikrase 1:1135f0b1566e 39
ikrase 6:bad5554bb890 40 template <typename Func, Func func>
ikrase 6:bad5554bb890 41
ikrase 6:bad5554bb890 42 struct ResetWrapper {
ikrase 6:bad5554bb890 43 ResetWrapper(int id): id_(id) { }
ikrase 6:bad5554bb890 44 void servo_set() {func(id_);}
ikrase 6:bad5554bb890 45 int id_;
ikrase 6:bad5554bb890 46 };
ikrase 6:bad5554bb890 47
ikrase 6:bad5554bb890 48 //std::vector<ResetWrapper *> resetws;
ikrase 6:bad5554bb890 49
ikrase 6:bad5554bb890 50
ikrase 6:bad5554bb890 51
ikrase 6:bad5554bb890 52
ikrase 0:6105cf98b610 53
ikrase 0:6105cf98b610 54
ikrase 0:6105cf98b610 55
ikrase 0:6105cf98b610 56
ikrase 0:6105cf98b610 57
ikrase 0:6105cf98b610 58
ikrase 0:6105cf98b610 59
ikrase 0:6105cf98b610 60 };
ikrase 0:6105cf98b610 61
ikrase 0:6105cf98b610 62
ikrase 0:6105cf98b610 63
ikrase 0:6105cf98b610 64 #endif