Joseph Bradshaw / ServoIn

Class Library for reading hobby servos and detecting invalid or disconnected channels

Dependents:   MadPulseCntrl Emaxx_Navigation Emaxx_Navigation_Dynamic_HIL Madpulse_Speed_Control_temp ... more

ServoIn Class Library

This class library uses external interrupts with timer functions to read servos pulses on mbed input pins.

ServoIn Library usage example

#include "mbed.h"
#include "ServoIn.h"

DigitalOut led1(LED1);
ServoIn servoIn1(p15);
ServoIn servoIn2(p14);
Serial pc(USBTX, USBRX); // tx, rx

int main() {    
    pc.baud(921600);            //Fast baud rate
        
    while(1) {
        led1 = 1;
        wait(0.05);
        led1 = 0;
        wait(0.05);
        
        pc.printf("servo pulse: CH1=%5dus  CH2=%5dus\r\n", servoIn1.read(), servoIn2.read());        
    }
}

Diff: ServoIn.cpp

Revision:
4:379f9ab5cb4b
Parent:
3:19c8eaf905e9
Child:
5:598ccee73ed3
--- a/ServoIn.cpp	Thu May 21 18:40:06 2015 +0000
+++ b/ServoIn.cpp	Thu Aug 04 15:46:31 2016 +0000
@@ -24,12 +24,15 @@
 #include "mbed.h"
 #include "ServoIn.h"
 
-ServoIn::ServoIn(PinName pin): _interrupt(pin){        // create the InterruptIn on the pin specified to ServoIn
+ServoIn::ServoIn(PinName pin): _interrupt(pin), _pin(pin){        // create the InterruptIn on the pin specified to ServoIn
     _interrupt.rise(this, &ServoIn::PulseRead); // attach PulseRead function of this ServoIn instance
-
+    
     _validPulseTimeout.attach(this, &ServoIn::timeoutTest, 0.015); // the member function, and interval (15ms)
     pulseMeasure.start();
-    _pulseFlag = 0;
+    if(_pin)
+        _pulseFlag = 1;
+    else
+        _pulseFlag = 0;
     servoPulse = 0;
     servoPulseMax = 2100;
     servoPulseMin = 900;