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.cpp
- Committer:
- jebradshaw
- Date:
- 2014-09-28
- Revision:
- 2:44766ee77ce0
- Parent:
- 1:7d669a801bb0
- Child:
- 3:edc18509ff11
File content as of revision 2:44766ee77ce0:
// Uses attach_us to generate servo pulse on single output pin // J. Bradshaw 20140925 /* Copyright (c) 2014, jbradshaw (http://mbed.org) * * 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 "mbed.h" #include "SERVOGEN.h" SERVOGEN::SERVOGEN(PinName pin) : _pin(pin) { _pin = 0; // Initialize output pin as off _sCycle = 0; // initialize servo cycle as 0 pulseMin=900; // default minimum (except 0) servo pulse width pulseMax=2100; // maximum servo pulse width pulse_us=0; // Initialize servo pulse width as 0 ticker = new Ticker(); // instantiate new Ticker object ticker->attach_us(this,&SERVOGEN::tickFunct,20000); //begin tickFunction in 20ms } void SERVOGEN::tickFunct(void){ if(pulse_us == 0){ //first check to see if the pulse width is 0 (OFF, servo not powered) _pin=0; // disable servo pulse output ticker->attach_us(this,&SERVOGEN::tickFunct,20000); // recall this function in 20ms return; } else{ if(pulse_us < pulseMin) //keep within bounds pulse_us = pulseMin; if(pulse_us > pulseMax) pulse_us = pulseMax; if(_sCycle){ //mode == 1 //pulse was high, now drop low for remaining time ticker->attach_us(this,&SERVOGEN::tickFunct,20000-pulse_us);; // recall this function in 20ms - servo pulse width (servo pulse low) _pin=0; _sCycle=0; } else{ //mode == 0 ticker->attach_us(this,&SERVOGEN::tickFunct,pulse_us);; // recall this function in 20ms - pulse width (servo pulse high) _pin=1; _sCycle=1; } } //pulse != 0 (OFF) }