Joseph Bradshaw / ServoOut

Library for generating servo pulses from mbed output pins

Dependents:   mbed_ES20X_Tester MadPulseCntrl ES413Integration Emaxx_Navigation ... more

Fork of SERVOGEN by Joseph Bradshaw

ServoOut Library

Assign the ServoOut object (output pin) a value in microseconds to change the servo pulse. Note that the default range is between 900 and 2100 microseconds.

Library for generating servo pulses using the Ticker class

/media/uploads/jebradshaw/mbedwsesbc_servos.jpg

/media/uploads/jebradshaw/mbed_servo_pulses.jpg

include the mbed library with this snippet

// ServoOut Class test program
// J. Bradshaw 20140925
#include "mbed.h"
#include "ServoOut.h" 
 
ServoOut servo1(p21);
ServoOut 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

Committer:
jebradshaw
Date:
2014-09-26
Revision:
1:7d669a801bb0
Parent:
0:67dd4036010a
Child:
2:44766ee77ce0

File content as of revision 1:7d669a801bb0:

// J. Bradshaw 20140925
/** SERVOGEN Class for Generating servo pulses on single output pin
*
* Example:
* @code
*#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.pulse_us = 300 * sin(cycle) + 1500;            
*            //ramp up the second servo2 channel relative to cycle
*            servo2.pulse_us = 1000 + cycle*159; // .001/(2*PI)
*            
*            wait(.001); //short delay
*        }
*        led1 = !led1;   //toggle led1 to indicate activity
*    }//while(1)
*}//main
*
*@endcode
*/

#ifndef MBED_SERVOGEN_H
#define MBED_SERVOGEN_H
 
#include "mbed.h"

/**
 * SERVOGEN Class.
 */

class SERVOGEN {
public:
    /**
     * Constructor.
     *
     * @param pin - servo pulse output pin
     */         
     SERVOGEN(PinName pin);
    
    int pulse_us;       //determines the pulse width in microseconds (default is 0 = OFF)
    int pulseMin;       //minimum pulse width (default is 900 microseconds)
    int pulseMax;       //maximum pulse width (default is 2100 microseconds)
  
private:
    void tickFunct(void);   //Function that takes care of the servo pulse generation
    Ticker *ticker;         //pointer to ticker object
    DigitalOut _pin;        //make assigned pin a digital output
    int _sCycle;            //flag to toggle for keeping track of servo cycle
};
 
#endif