Library for generating servo pulses from mbed output pins
Dependents: mbed_ES20X_Tester MadPulseCntrl ES413Integration Emaxx_Navigation ... more
Fork of SERVOGEN by
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
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@0:67dd4036010a, 2014-09-26 (annotated)
- Committer:
- jebradshaw
- Date:
- Fri Sep 26 19:22:18 2014 +0000
- Revision:
- 0:67dd4036010a
- Child:
- 1:7d669a801bb0
J. Bradshaw 20140926; Working servo pulse generation library using Ticker class.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jebradshaw | 0:67dd4036010a | 1 | // Uses attach_us to generate servo pulse on single output pin |
jebradshaw | 0:67dd4036010a | 2 | // J. Bradshaw 20140925 |
jebradshaw | 0:67dd4036010a | 3 | #ifndef MBED_SERVOGEN_H |
jebradshaw | 0:67dd4036010a | 4 | #define MBED_SERVOGEN_H |
jebradshaw | 0:67dd4036010a | 5 | |
jebradshaw | 0:67dd4036010a | 6 | #include "mbed.h" |
jebradshaw | 0:67dd4036010a | 7 | |
jebradshaw | 0:67dd4036010a | 8 | /** |
jebradshaw | 0:67dd4036010a | 9 | * SERVOGEN Class. |
jebradshaw | 0:67dd4036010a | 10 | */ |
jebradshaw | 0:67dd4036010a | 11 | |
jebradshaw | 0:67dd4036010a | 12 | class SERVOGEN { |
jebradshaw | 0:67dd4036010a | 13 | public: |
jebradshaw | 0:67dd4036010a | 14 | /** |
jebradshaw | 0:67dd4036010a | 15 | * Constructor. |
jebradshaw | 0:67dd4036010a | 16 | * |
jebradshaw | 0:67dd4036010a | 17 | * @param pin - servo pulse output pin |
jebradshaw | 0:67dd4036010a | 18 | */ |
jebradshaw | 0:67dd4036010a | 19 | SERVOGEN(PinName pin); |
jebradshaw | 0:67dd4036010a | 20 | |
jebradshaw | 0:67dd4036010a | 21 | int pulse_us; //determines the pulse width in microseconds (default is 0 = OFF) |
jebradshaw | 0:67dd4036010a | 22 | int pulseMin; //minimum pulse width (default is 900 microseconds) |
jebradshaw | 0:67dd4036010a | 23 | int pulseMax; //maximum pulse width (default is 2100 microseconds) |
jebradshaw | 0:67dd4036010a | 24 | |
jebradshaw | 0:67dd4036010a | 25 | private: |
jebradshaw | 0:67dd4036010a | 26 | void tickFunct(void); //Function that takes care of the servo pulse generation |
jebradshaw | 0:67dd4036010a | 27 | Ticker *ticker; //pointer to ticker object |
jebradshaw | 0:67dd4036010a | 28 | DigitalOut _pin; //make assigned pin a digital output |
jebradshaw | 0:67dd4036010a | 29 | int _sCycle; //flag to toggle for keeping track of servo cycle |
jebradshaw | 0:67dd4036010a | 30 | }; |
jebradshaw | 0:67dd4036010a | 31 | |
jebradshaw | 0:67dd4036010a | 32 | #endif |