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@7:f9e1e813fa24, 2015-07-03 (annotated)

Committer:
ikrase
Date:
Fri Jul 03 08:17:30 2015 +0000
Revision:
7:f9e1e813fa24
Parent:
6:bad5554bb890
Child:
8:c09ae4fef420
Closer to getting this working.

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 7:f9e1e813fa24 13 void servo_set(int id);
ikrase 7:f9e1e813fa24 14
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 0:6105cf98b610 23 bool global_enable;
ikrase 1:1135f0b1566e 24 std::vector<int> positions;
ikrase 0:6105cf98b610 25 int numservos;
ikrase 0:6105cf98b610 26
ikrase 0:6105cf98b610 27 Polyservo(DigitalOut servo_pins[], int num_pins);
ikrase 1:1135f0b1566e 28 void set_position(int s, int pos);
ikrase 0:6105cf98b610 29
ikrase 0:6105cf98b610 30
ikrase 0:6105cf98b610 31
ikrase 0:6105cf98b610 32
ikrase 0:6105cf98b610 33
ikrase 0:6105cf98b610 34 private:
ikrase 0:6105cf98b610 35
ikrase 0:6105cf98b610 36 Ticker period_tick;
ikrase 1:1135f0b1566e 37 std::vector<Timeout *> servo_timers;
ikrase 0:6105cf98b610 38 //Timeout * servo_times;
ikrase 0:6105cf98b610 39
ikrase 7:f9e1e813fa24 40 //void servo_set(int id);
ikrase 1:1135f0b1566e 41
ikrase 1:1135f0b1566e 42 void servos_reset(void);
ikrase 1:1135f0b1566e 43
ikrase 6:bad5554bb890 44 template <typename Func, Func func>
ikrase 6:bad5554bb890 45
ikrase 6:bad5554bb890 46 struct ResetWrapper {
ikrase 6:bad5554bb890 47 ResetWrapper(int id): id_(id) { }
ikrase 7:f9e1e813fa24 48 void f() {func(id_);}
ikrase 6:bad5554bb890 49 int id_;
ikrase 6:bad5554bb890 50 };
ikrase 6:bad5554bb890 51
ikrase 6:bad5554bb890 52
ikrase 6:bad5554bb890 53
ikrase 6:bad5554bb890 54
ikrase 6:bad5554bb890 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
ikrase 0:6105cf98b610 65
ikrase 0:6105cf98b610 66
ikrase 0:6105cf98b610 67 #endif