Ian Krase / PolyServo

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependents:   Quadrapod

PolyServo.h@8:c09ae4fef420, 2015-07-04 (annotated)

Committer:
ikrase
Date:
Sat Jul 04 03:32:02 2015 +0000
Revision:
8:c09ae4fef420
Parent:
7:f9e1e813fa24
Child:
9:a40eac6bdfae
Said "screw it" and just hardcoded 12 functions by hand.

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 7:f9e1e813fa24 14 void servo_set(int id);
ikrase 7:f9e1e813fa24 15
ikrase 7:f9e1e813fa24 16
ikrase 7:f9e1e813fa24 17
ikrase 0:6105cf98b610 18 class Polyservo {
ikrase 0:6105cf98b610 19 public:
ikrase 0:6105cf98b610 20
ikrase 0:6105cf98b610 21 std::vector<DigitalOut *> servos;
ikrase 0:6105cf98b610 22 //DigitalOut * servos;
ikrase 0:6105cf98b610 23
ikrase 8:c09ae4fef420 24 //bool global_enable;
ikrase 8:c09ae4fef420 25 int positions[NUM_SERVOS];
ikrase 0:6105cf98b610 26 int numservos;
ikrase 8:c09ae4fef420 27 void disable();
ikrase 8:c09ae4fef420 28 void enable();
ikrase 0:6105cf98b610 29
ikrase 8:c09ae4fef420 30 Polyservo(DigitalOut servo_pins[]);
ikrase 1:1135f0b1566e 31 void set_position(int s, int pos);
ikrase 0:6105cf98b610 32
ikrase 0:6105cf98b610 33
ikrase 0:6105cf98b610 34
ikrase 0:6105cf98b610 35
ikrase 0:6105cf98b610 36
ikrase 0:6105cf98b610 37 private:
ikrase 0:6105cf98b610 38
ikrase 0:6105cf98b610 39 Ticker period_tick;
ikrase 1:1135f0b1566e 40 std::vector<Timeout *> servo_timers;
ikrase 0:6105cf98b610 41 //Timeout * servo_times;
ikrase 0:6105cf98b610 42
ikrase 7:f9e1e813fa24 43 //void servo_set(int id);
ikrase 1:1135f0b1566e 44
ikrase 1:1135f0b1566e 45 void servos_reset(void);
ikrase 1:1135f0b1566e 46
ikrase 8:c09ae4fef420 47 bool global_enable;
ikrase 8:c09ae4fef420 48
ikrase 8:c09ae4fef420 49 void servo0_set(void);
ikrase 8:c09ae4fef420 50 void servo1_set(void);
ikrase 8:c09ae4fef420 51 void servo2_set(void);
ikrase 8:c09ae4fef420 52 void servo3_set(void);
ikrase 8:c09ae4fef420 53 void servo4_set(void);
ikrase 8:c09ae4fef420 54 void servo5_set(void);
ikrase 8:c09ae4fef420 55 void servo6_set(void);
ikrase 8:c09ae4fef420 56 void servo7_set(void);
ikrase 8:c09ae4fef420 57 void servo8_set(void);
ikrase 8:c09ae4fef420 58 void servo9_set(void);
ikrase 8:c09ae4fef420 59 void servo10_set(void);
ikrase 8:c09ae4fef420 60 void servo11_set(void);
ikrase 8:c09ae4fef420 61 //void servo12_set(void);
ikrase 6:bad5554bb890 62
ikrase 8:c09ae4fef420 63 void (*servo_sets[NUM_SERVOS])(void);
ikrase 8:c09ae4fef420 64
ikrase 6:bad5554bb890 65
ikrase 6:bad5554bb890 66
ikrase 6:bad5554bb890 67
ikrase 6:bad5554bb890 68
ikrase 6:bad5554bb890 69
ikrase 0:6105cf98b610 70
ikrase 0:6105cf98b610 71
ikrase 0:6105cf98b610 72
ikrase 0:6105cf98b610 73
ikrase 0:6105cf98b610 74
ikrase 0:6105cf98b610 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 #endif