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@2:f982504e6e84, 2015-06-27 (annotated)

Committer:
ikrase
Date:
Sat Jun 27 06:08:17 2015 +0000
Revision:
2:f982504e6e84
Parent:
1:1135f0b1566e
Child:
3:1d16a22386a8
Added reset section;

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 0:6105cf98b610 7
ikrase 0:6105cf98b610 8
ikrase 0:6105cf98b610 9 #define SERVO_DISABLED -1 // This is going to take raw servo microsecond entries.
ikrase 2:f982504e6e84 10 #define PPM_PERIOD 20000 // In microseconds
ikrase 0:6105cf98b610 11
ikrase 0:6105cf98b610 12 class Polyservo {
ikrase 0:6105cf98b610 13 public:
ikrase 0:6105cf98b610 14
ikrase 0:6105cf98b610 15 std::vector<DigitalOut *> servos;
ikrase 0:6105cf98b610 16 //DigitalOut * servos;
ikrase 0:6105cf98b610 17
ikrase 0:6105cf98b610 18 bool global_enable;
ikrase 1:1135f0b1566e 19 std::vector<int> positions;
ikrase 0:6105cf98b610 20 int numservos;
ikrase 0:6105cf98b610 21
ikrase 0:6105cf98b610 22 Polyservo(DigitalOut servo_pins[], int num_pins);
ikrase 1:1135f0b1566e 23 void set_position(int s, int pos);
ikrase 0:6105cf98b610 24
ikrase 0:6105cf98b610 25
ikrase 0:6105cf98b610 26
ikrase 0:6105cf98b610 27
ikrase 0:6105cf98b610 28
ikrase 0:6105cf98b610 29 private:
ikrase 0:6105cf98b610 30
ikrase 0:6105cf98b610 31 Ticker period_tick;
ikrase 1:1135f0b1566e 32 std::vector<Timeout *> servo_timers;
ikrase 0:6105cf98b610 33 //Timeout * servo_times;
ikrase 0:6105cf98b610 34
ikrase 1:1135f0b1566e 35 uint32_t servo_set(uint32_t);
ikrase 1:1135f0b1566e 36
ikrase 1:1135f0b1566e 37 void servos_reset(void);
ikrase 1:1135f0b1566e 38
ikrase 0:6105cf98b610 39
ikrase 0:6105cf98b610 40
ikrase 0:6105cf98b610 41
ikrase 0:6105cf98b610 42
ikrase 0:6105cf98b610 43
ikrase 0:6105cf98b610 44
ikrase 0:6105cf98b610 45
ikrase 0:6105cf98b610 46 };
ikrase 0:6105cf98b610 47
ikrase 0:6105cf98b610 48
ikrase 0:6105cf98b610 49
ikrase 0:6105cf98b610 50 #endif