Revision 0:39cd1e782d1e, committed 2010-10-18

Comitter:

jcrx

Date:

Mon Oct 18 13:17:22 2010 +0000

Commit message:

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.cpp	Mon Oct 18 13:17:22 2010 +0000
@@ -0,0 +1,74 @@
+/* mbed R/C Servo Library
+ *  
+ * Copyright (c) 2007-2010 sford, cstyles
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+ 
+#include "Servo.h"
+#include "mbed.h"
+
+static float clamp(float value, float min, float max) {
+    if(value < min) {
+        return min;
+    } else if(value > max) {
+        return max;
+    } else {
+        return value;
+    }
+}
+
+Servo::Servo(PinName pin) : _pwm(pin) {
+    calibrate();
+    write(0.5);
+}
+
+void Servo::write(float percent) {
+    float offset = _range * 2.0 * (percent - 0.5);
+    _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range));
+    _p = clamp(percent, 0.0, 1.0);
+}
+
+void Servo::position(float degrees) {
+    float offset = _range * (degrees / _degrees);
+    _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range));
+}
+
+void Servo::calibrate(float range, float degrees) {
+    _range = range;
+    _degrees = degrees;
+}
+
+float Servo::read() {
+    return _p;
+}
+
+Servo& Servo::operator= (float percent) { 
+    write(percent);
+    return *this;
+}
+
+Servo& Servo::operator= (Servo& rhs) {
+    write(rhs.read());
+    return *this;
+}
+
+Servo::operator float() {
+    return read();
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.h	Mon Oct 18 13:17:22 2010 +0000
@@ -0,0 +1,98 @@
+/* mbed R/C Servo Library
+ * Copyright (c) 2007-2010 sford, cstyles
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+  
+#ifndef MBED_SERVO_H
+#define MBED_SERVO_H
+
+#include "mbed.h"
+
+/** Servo control class, based on a PwmOut
+ *
+ * Example:
+ * @code
+ * // Continuously sweep the servo through it's full range
+ * #include "mbed.h"
+ * #include "Servo.h"
+ * 
+ * Servo myservo(p21);
+ * 
+ * int main() {
+ *     while(1) {
+ *         for(int i=0; i<100; i++) {
+ *             myservo = i/100.0;
+ *             wait(0.01);
+ *         }
+ *         for(int i=100; i>0; i--) {
+ *             myservo = i/100.0;
+ *             wait(0.01);
+ *         }
+ *     }
+ * }
+ * @endcode
+ */
+class Servo {
+
+public:
+    /** Create a servo object connected to the specified PwmOut pin
+     *
+     * @param pin PwmOut pin to connect to 
+     */
+    Servo(PinName pin);
+    
+    /** Set the servo position, normalised to it's full range
+     *
+     * @param percent A normalised number 0.0-1.0 to represent the full range.
+     */
+    void write(float percent);
+    
+    /**  Read the servo motors current position
+     *
+     * @param returns A normalised number 0.0-1.0  representing the full range.
+     */
+    float read();
+    
+    /** Set the servo position
+     *
+     * @param degrees Servo position in degrees
+     */
+    void position(float degrees);
+    
+    /**  Allows calibration of the range and angles for a particular servo
+     *
+     * @param range Pulsewidth range from center (1.5ms) to maximum/minimum position in seconds
+     * @param degrees Angle from centre to maximum/minimum position in degrees
+     */
+    void calibrate(float range = 0.0005, float degrees = 45.0); 
+        
+    /**  Shorthand for the write and read functions */
+    Servo& operator= (float percent);
+    Servo& operator= (Servo& rhs);
+    operator float();
+
+protected:
+    PwmOut _pwm;
+    float _range;
+    float _degrees;
+    float _p;
+};
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Oct 18 13:17:22 2010 +0000
@@ -0,0 +1,66 @@
+/* just a test for "mbed R/C Servo Library"
+ * send from PC to mbed a string like ":XXYY"<RC>
+ * where XX is the hexa value [00..FF ] (0..255) of Servo1
+ * and YY is the hexa value [00..FF ] (0..255) of Servo2
+ * also "V"<RC> gives the version.
+ */
+
+#include "mbed.h"
+#include "Servo.h"
+  
+PwmOut led_1(LED1);
+PwmOut led_2(LED2);
+
+Servo servo_1(p21);
+Servo servo_2(p22);
+
+Serial rs_pc(USBTX, USBRX); // virtual com (tx, rx)
+
+// convert 2 ascii chars hex format ("00".."FF") -> 1 unsigned char (0..255)
+unsigned char hex_bin (unsigned char  *ptr )
+{
+    unsigned char temp;
+
+    if (*ptr>='0' && *ptr<='9') temp = *ptr & 0x0F;
+                          else  temp = (*ptr & 0x0F) + 9;
+    temp <<= 4;
+    if (*(ptr+1)>='0' && *(ptr+1)<='9') temp |= *(ptr+1) & 0x0F;
+                                  else  temp |= (*(ptr+1) & 0x0F) + 9;
+    return temp;
+}
+
+int main() {
+    unsigned char i=0;
+    float p;
+    unsigned char c;
+    unsigned char cmd[6];
+    while(1) {
+        if(rs_pc.readable()) { // char on rs_pc
+            c = rs_pc.getc();
+            if (c==13){ // end of tram
+                if (cmd[0]== ':'){ // cmd servos
+                    rs_pc.putc(13); // ok
+                    // servo 1
+                    p = hex_bin(&cmd[1])/255.0; // 0.00 (min) -> 1.00 (max)
+                    servo_1 = p;
+                    led_1   = p; // just for eyes
+                    // servo 2
+                    p = hex_bin(&cmd[3])/255.0; // 0.00 (min) -> 1.00 (max)
+                    servo_2 = p;
+                    led_2   = p;
+                }
+                if (cmd[0]== 'V'){ // version
+                    rs_pc.printf("Servos test V1.01.a\r");
+                }
+                i=0;
+            }else{
+                if (c==':') i=0; // start of tram
+                cmd[i++]=c;
+                if (i>5){
+                    rs_pc.printf("Wrong command\r");
+                    i=0;
+                }
+            }
+        }
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Oct 18 13:17:22 2010 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e