A servo library for controlling servos without using PWM. Can be used on any pin.
Dependents: ServoTest ServoTest Nucleo_coffee NervousPuppySprintOne ... more
Servo.h
00001 /* mbed Servo Library without using PWM pins 00002 * Copyright (c) 2010 Jasper Denkers 00003 * 00004 * Permission is hereby granted, free of charge, to any person obtaining a copy 00005 * of this software and associated documentation files (the "Software"), to deal 00006 * in the Software without restriction, including without limitation the rights 00007 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00008 * copies of the Software, and to permit persons to whom the Software is 00009 * furnished to do so, subject to the following conditions: 00010 * 00011 * The above copyright notice and this permission notice shall be included in 00012 * all copies or substantial portions of the Software. 00013 * 00014 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00015 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00016 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00017 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00018 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00019 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 00020 * THE SOFTWARE. 00021 */ 00022 00023 #ifndef MBED_SERVO_H 00024 #define MBED_SERVO_H 00025 00026 #include "mbed.h" 00027 00028 /** Class to control a servo on any pin, without using pwm 00029 * 00030 * Example: 00031 * @code 00032 * // Keep sweeping servo from left to right 00033 * #include "mbed.h" 00034 * #include "Servo.h" 00035 * 00036 * Servo Servo1(p20); 00037 * 00038 * Servo1.Enable(1500,20000); 00039 * 00040 * while(1) { 00041 * for (int pos = 1000; pos < 2000; pos += 25) { 00042 * Servo1.SetPosition(pos); 00043 * wait_ms(20); 00044 * } 00045 * for (int pos = 2000; pos > 1000; pos -= 25) { 00046 * Servo1.SetPosition(pos); 00047 * wait_ms(20); 00048 * } 00049 * } 00050 * @endcode 00051 */ 00052 00053 class Servo { 00054 00055 public: 00056 /** Create a new Servo object on any mbed pin 00057 * 00058 * @param Pin Pin on mbed to connect servo to 00059 */ 00060 Servo(PinName Pin); 00061 00062 /** Change the position of the servo. Position in us 00063 * 00064 * @param NewPos The new value of the servos position (us) 00065 */ 00066 void SetPosition(int NewPos); 00067 00068 /** Enable the servo. Without enabling the servo won't be running. Startposition and period both in us. 00069 * 00070 * @param StartPos The position of the servo to start (us) 00071 * @param Period The time between every pulse. 20000 us = 50 Hz(standard) (us) 00072 */ 00073 void Enable(int StartPos, int Period); 00074 00075 /** Disable the servo. After disabling the servo won't get any signal anymore 00076 * 00077 */ 00078 void Disable(); 00079 00080 private: 00081 void StartPulse(); 00082 void EndPulse(); 00083 00084 int Position; 00085 DigitalOut ServoPin; 00086 Ticker Pulse; 00087 Timeout PulseStop; 00088 }; 00089 00090 #endif
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