Class library for generating hobby servo pulses on any digital output pin
Dependents: mbed_ES200_Tester_SERVOGEN mbed_ES20X_Thread_Test
SERVOGEN library
Library for generating servo pulses using the Ticker class
include the mbed library with this snippet
// SERVOGEN Class test program // J. Bradshaw 20140925 #include "mbed.h" #include "SERVOGEN.h" SERVOGEN servo1(p21); SERVOGEN servo2(p24); DigitalOut led1(LED1); int main() { servo1.pulse_us = 0; // spin in a main loop. flipper will interrupt it to call flip while(1) { for(float cycle=0.0;cycle<2.0*3.14159;cycle+=.003){ //small amplitude sine wave on servo1 servo1 = 300 * sin(cycle) + 1500; //ramp up the second servo2 channel relative to cycle servo2 = 1000 + cycle*159; // .001/(2*PI) wait(.001); //short delay } led1 = !led1; //toggle led1 to indicate activity }//while(1) }//main
SERVOGEN.h@2:44766ee77ce0, 2014-09-28 (annotated)
- Committer:
- jebradshaw
- Date:
- Sun Sep 28 18:57:11 2014 +0000
- Revision:
- 2:44766ee77ce0
- Parent:
- 1:7d669a801bb0
- Child:
- 3:edc18509ff11
updated on 20140928
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jebradshaw | 0:67dd4036010a | 1 | // J. Bradshaw 20140925 |
jebradshaw | 1:7d669a801bb0 | 2 | /** SERVOGEN Class for Generating servo pulses on single output pin |
jebradshaw | 2:44766ee77ce0 | 3 | * Copyright (c) 2014, jbradshaw (http://mbed.org) |
jebradshaw | 2:44766ee77ce0 | 4 | * |
jebradshaw | 2:44766ee77ce0 | 5 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
jebradshaw | 2:44766ee77ce0 | 6 | * of this software and associated documentation files (the "Software"), to deal |
jebradshaw | 2:44766ee77ce0 | 7 | * in the Software without restriction, including without limitation the rights |
jebradshaw | 2:44766ee77ce0 | 8 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
jebradshaw | 2:44766ee77ce0 | 9 | * copies of the Software, and to permit persons to whom the Software is |
jebradshaw | 2:44766ee77ce0 | 10 | * furnished to do so, subject to the following conditions: |
jebradshaw | 2:44766ee77ce0 | 11 | * |
jebradshaw | 2:44766ee77ce0 | 12 | * The above copyright notice and this permission notice shall be included in |
jebradshaw | 2:44766ee77ce0 | 13 | * all copies or substantial portions of the Software. |
jebradshaw | 2:44766ee77ce0 | 14 | * |
jebradshaw | 2:44766ee77ce0 | 15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
jebradshaw | 2:44766ee77ce0 | 16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
jebradshaw | 2:44766ee77ce0 | 17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
jebradshaw | 2:44766ee77ce0 | 18 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
jebradshaw | 2:44766ee77ce0 | 19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
jebradshaw | 2:44766ee77ce0 | 20 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
jebradshaw | 2:44766ee77ce0 | 21 | * THE SOFTWARE. |
jebradshaw | 2:44766ee77ce0 | 22 | * |
jebradshaw | 1:7d669a801bb0 | 23 | * |
jebradshaw | 1:7d669a801bb0 | 24 | * Example: |
jebradshaw | 1:7d669a801bb0 | 25 | * @code |
jebradshaw | 1:7d669a801bb0 | 26 | *#include "mbed.h" |
jebradshaw | 1:7d669a801bb0 | 27 | *#include "SERVOGEN.h" |
jebradshaw | 1:7d669a801bb0 | 28 | * |
jebradshaw | 1:7d669a801bb0 | 29 | *SERVOGEN servo1(p21); |
jebradshaw | 1:7d669a801bb0 | 30 | *SERVOGEN servo2(p24); |
jebradshaw | 1:7d669a801bb0 | 31 | *DigitalOut led1(LED1); |
jebradshaw | 1:7d669a801bb0 | 32 | * |
jebradshaw | 1:7d669a801bb0 | 33 | *int main() { |
jebradshaw | 1:7d669a801bb0 | 34 | * servo1.pulse_us = 0; |
jebradshaw | 1:7d669a801bb0 | 35 | * // spin in a main loop. flipper will interrupt it to call flip |
jebradshaw | 1:7d669a801bb0 | 36 | * while(1) { |
jebradshaw | 1:7d669a801bb0 | 37 | * for(float cycle=0.0;cycle<2.0*3.14159;cycle+=.003){ |
jebradshaw | 1:7d669a801bb0 | 38 | * //small amplitude sine wave on servo1 |
jebradshaw | 1:7d669a801bb0 | 39 | * servo1.pulse_us = 300 * sin(cycle) + 1500; |
jebradshaw | 1:7d669a801bb0 | 40 | * //ramp up the second servo2 channel relative to cycle |
jebradshaw | 1:7d669a801bb0 | 41 | * servo2.pulse_us = 1000 + cycle*159; // .001/(2*PI) |
jebradshaw | 1:7d669a801bb0 | 42 | * |
jebradshaw | 1:7d669a801bb0 | 43 | * wait(.001); //short delay |
jebradshaw | 1:7d669a801bb0 | 44 | * } |
jebradshaw | 1:7d669a801bb0 | 45 | * led1 = !led1; //toggle led1 to indicate activity |
jebradshaw | 1:7d669a801bb0 | 46 | * }//while(1) |
jebradshaw | 1:7d669a801bb0 | 47 | *}//main |
jebradshaw | 1:7d669a801bb0 | 48 | * |
jebradshaw | 1:7d669a801bb0 | 49 | *@endcode |
jebradshaw | 1:7d669a801bb0 | 50 | */ |
jebradshaw | 1:7d669a801bb0 | 51 | |
jebradshaw | 0:67dd4036010a | 52 | #ifndef MBED_SERVOGEN_H |
jebradshaw | 0:67dd4036010a | 53 | #define MBED_SERVOGEN_H |
jebradshaw | 0:67dd4036010a | 54 | |
jebradshaw | 0:67dd4036010a | 55 | #include "mbed.h" |
jebradshaw | 0:67dd4036010a | 56 | |
jebradshaw | 0:67dd4036010a | 57 | /** |
jebradshaw | 0:67dd4036010a | 58 | * SERVOGEN Class. |
jebradshaw | 0:67dd4036010a | 59 | */ |
jebradshaw | 0:67dd4036010a | 60 | |
jebradshaw | 0:67dd4036010a | 61 | class SERVOGEN { |
jebradshaw | 0:67dd4036010a | 62 | public: |
jebradshaw | 0:67dd4036010a | 63 | /** |
jebradshaw | 0:67dd4036010a | 64 | * Constructor. |
jebradshaw | 0:67dd4036010a | 65 | * |
jebradshaw | 0:67dd4036010a | 66 | * @param pin - servo pulse output pin |
jebradshaw | 0:67dd4036010a | 67 | */ |
jebradshaw | 0:67dd4036010a | 68 | SERVOGEN(PinName pin); |
jebradshaw | 0:67dd4036010a | 69 | |
jebradshaw | 0:67dd4036010a | 70 | int pulse_us; //determines the pulse width in microseconds (default is 0 = OFF) |
jebradshaw | 0:67dd4036010a | 71 | int pulseMin; //minimum pulse width (default is 900 microseconds) |
jebradshaw | 0:67dd4036010a | 72 | int pulseMax; //maximum pulse width (default is 2100 microseconds) |
jebradshaw | 0:67dd4036010a | 73 | |
jebradshaw | 0:67dd4036010a | 74 | private: |
jebradshaw | 0:67dd4036010a | 75 | void tickFunct(void); //Function that takes care of the servo pulse generation |
jebradshaw | 0:67dd4036010a | 76 | Ticker *ticker; //pointer to ticker object |
jebradshaw | 0:67dd4036010a | 77 | DigitalOut _pin; //make assigned pin a digital output |
jebradshaw | 0:67dd4036010a | 78 | int _sCycle; //flag to toggle for keeping track of servo cycle |
jebradshaw | 0:67dd4036010a | 79 | }; |
jebradshaw | 0:67dd4036010a | 80 | |
jebradshaw | 0:67dd4036010a | 81 | #endif |