Greg Kuhn
Program to control an accelerometer, motors and a rangefinder using the ScmRTOS ported to mbed. (Work in progress and buggy)
Servo.h@0:9b057566f9ee, 2010-11-01 (annotated)
- Committer:
- jberry
- Date:
- Mon Nov 01 20:39:01 2010 +0000
- Revision:
- 0:9b057566f9ee
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| jberry | 0:9b057566f9ee | 1 | /* mbed R/C Servo Library |
| jberry | 0:9b057566f9ee | 2 | * Copyright (c) 2007-2010 sford, cstyles |
| jberry | 0:9b057566f9ee | 3 | * |
| jberry | 0:9b057566f9ee | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
| jberry | 0:9b057566f9ee | 5 | * of this software and associated documentation files (the "Software"), to deal |
| jberry | 0:9b057566f9ee | 6 | * in the Software without restriction, including without limitation the rights |
| jberry | 0:9b057566f9ee | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
| jberry | 0:9b057566f9ee | 8 | * copies of the Software, and to permit persons to whom the Software is |
| jberry | 0:9b057566f9ee | 9 | * furnished to do so, subject to the following conditions: |
| jberry | 0:9b057566f9ee | 10 | * |
| jberry | 0:9b057566f9ee | 11 | * The above copyright notice and this permission notice shall be included in |
| jberry | 0:9b057566f9ee | 12 | * all copies or substantial portions of the Software. |
| jberry | 0:9b057566f9ee | 13 | * |
| jberry | 0:9b057566f9ee | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| jberry | 0:9b057566f9ee | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| jberry | 0:9b057566f9ee | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| jberry | 0:9b057566f9ee | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| jberry | 0:9b057566f9ee | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| jberry | 0:9b057566f9ee | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
| jberry | 0:9b057566f9ee | 20 | * THE SOFTWARE. |
| jberry | 0:9b057566f9ee | 21 | */ |
| jberry | 0:9b057566f9ee | 22 | |
| jberry | 0:9b057566f9ee | 23 | #ifndef MBED_SERVO_H |
| jberry | 0:9b057566f9ee | 24 | #define MBED_SERVO_H |
| jberry | 0:9b057566f9ee | 25 | |
| jberry | 0:9b057566f9ee | 26 | #include "mbed.h" |
| jberry | 0:9b057566f9ee | 27 | |
| jberry | 0:9b057566f9ee | 28 | /** Servo control class, based on a PwmOut |
| jberry | 0:9b057566f9ee | 29 | * |
| jberry | 0:9b057566f9ee | 30 | * Example: |
| jberry | 0:9b057566f9ee | 31 | * @code |
| jberry | 0:9b057566f9ee | 32 | * // Continuously sweep the servo through it's full range |
| jberry | 0:9b057566f9ee | 33 | * #include "mbed.h" |
| jberry | 0:9b057566f9ee | 34 | * #include "Servo.h" |
| jberry | 0:9b057566f9ee | 35 | * |
| jberry | 0:9b057566f9ee | 36 | * Servo myservo(p21); |
| jberry | 0:9b057566f9ee | 37 | * |
| jberry | 0:9b057566f9ee | 38 | * int main() { |
| jberry | 0:9b057566f9ee | 39 | * while(1) { |
| jberry | 0:9b057566f9ee | 40 | * for(int i=0; i<100; i++) { |
| jberry | 0:9b057566f9ee | 41 | * myservo = i/100.0; |
| jberry | 0:9b057566f9ee | 42 | * wait(0.01); |
| jberry | 0:9b057566f9ee | 43 | * } |
| jberry | 0:9b057566f9ee | 44 | * for(int i=100; i>0; i--) { |
| jberry | 0:9b057566f9ee | 45 | * myservo = i/100.0; |
| jberry | 0:9b057566f9ee | 46 | * wait(0.01); |
| jberry | 0:9b057566f9ee | 47 | * } |
| jberry | 0:9b057566f9ee | 48 | * } |
| jberry | 0:9b057566f9ee | 49 | * } |
| jberry | 0:9b057566f9ee | 50 | * @endcode |
| jberry | 0:9b057566f9ee | 51 | */ |
| jberry | 0:9b057566f9ee | 52 | class Servo { |
| jberry | 0:9b057566f9ee | 53 | |
| jberry | 0:9b057566f9ee | 54 | public: |
| jberry | 0:9b057566f9ee | 55 | /** Create a servo object connected to the specified PwmOut pin |
| jberry | 0:9b057566f9ee | 56 | * |
| jberry | 0:9b057566f9ee | 57 | * @param pin PwmOut pin to connect to |
| jberry | 0:9b057566f9ee | 58 | */ |
| jberry | 0:9b057566f9ee | 59 | Servo(PinName pin); |
| jberry | 0:9b057566f9ee | 60 | |
| jberry | 0:9b057566f9ee | 61 | /** Set the servo position, normalised to it's full range |
| jberry | 0:9b057566f9ee | 62 | * |
| jberry | 0:9b057566f9ee | 63 | * @param percent A normalised number 0.0-1.0 to represent the full range. |
| jberry | 0:9b057566f9ee | 64 | */ |
| jberry | 0:9b057566f9ee | 65 | void write(float percent); |
| jberry | 0:9b057566f9ee | 66 | |
| jberry | 0:9b057566f9ee | 67 | /** Read the servo motors current position |
| jberry | 0:9b057566f9ee | 68 | * |
| jberry | 0:9b057566f9ee | 69 | * @param returns A normalised number 0.0-1.0 representing the full range. |
| jberry | 0:9b057566f9ee | 70 | */ |
| jberry | 0:9b057566f9ee | 71 | float read(); |
| jberry | 0:9b057566f9ee | 72 | |
| jberry | 0:9b057566f9ee | 73 | /** Set the servo position |
| jberry | 0:9b057566f9ee | 74 | * |
| jberry | 0:9b057566f9ee | 75 | * @param degrees Servo position in degrees |
| jberry | 0:9b057566f9ee | 76 | */ |
| jberry | 0:9b057566f9ee | 77 | void position(float degrees); |
| jberry | 0:9b057566f9ee | 78 | |
| jberry | 0:9b057566f9ee | 79 | /** Allows calibration of the range and angles for a particular servo |
| jberry | 0:9b057566f9ee | 80 | * |
| jberry | 0:9b057566f9ee | 81 | * @param range Pulsewidth range from center (1.5ms) to maximum/minimum position in seconds |
| jberry | 0:9b057566f9ee | 82 | * @param degrees Angle from centre to maximum/minimum position in degrees |
| jberry | 0:9b057566f9ee | 83 | */ |
| jberry | 0:9b057566f9ee | 84 | void calibrate(float range = 0.0005, float degrees = 45.0); |
| jberry | 0:9b057566f9ee | 85 | |
| jberry | 0:9b057566f9ee | 86 | /** Shorthand for the write and read functions */ |
| jberry | 0:9b057566f9ee | 87 | Servo& operator= (float percent); |
| jberry | 0:9b057566f9ee | 88 | Servo& operator= (Servo& rhs); |
| jberry | 0:9b057566f9ee | 89 | operator float(); |
| jberry | 0:9b057566f9ee | 90 | |
| jberry | 0:9b057566f9ee | 91 | protected: |
| jberry | 0:9b057566f9ee | 92 | PwmOut _pwm; |
| jberry | 0:9b057566f9ee | 93 | float _range; |
| jberry | 0:9b057566f9ee | 94 | float _degrees; |
| jberry | 0:9b057566f9ee | 95 | float _p; |
| jberry | 0:9b057566f9ee | 96 | }; |
| jberry | 0:9b057566f9ee | 97 | |
| jberry | 0:9b057566f9ee | 98 | #endif |