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@4:7043ab96dd4a, 2015-04-09 (annotated)
- Committer:
- jebradshaw
- Date:
- Thu Apr 09 20:49:29 2015 +0000
- Revision:
- 4:7043ab96dd4a
- Parent:
- SERVOGEN.h@3:edc18509ff11
Servo Pulse Generator Object Library
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jebradshaw | 4:7043ab96dd4a | 1 | // J. Bradshaw 20150409 |
jebradshaw | 4:7043ab96dd4a | 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 | 4:7043ab96dd4a | 27 | *#include "ServoGen.h" |
jebradshaw | 1:7d669a801bb0 | 28 | * |
jebradshaw | 4:7043ab96dd4a | 29 | *ServoGen servo1(p21); |
jebradshaw | 4:7043ab96dd4a | 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 | 4:7043ab96dd4a | 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 | 4:7043ab96dd4a | 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 | 3:edc18509ff11 | 73 | |
jebradshaw | 3:edc18509ff11 | 74 | void write(int pulse); // |
jebradshaw | 3:edc18509ff11 | 75 | int read(void); |
jebradshaw | 3:edc18509ff11 | 76 | |
jebradshaw | 3:edc18509ff11 | 77 | /** Shorthand for the write and read functions */ |
jebradshaw | 4:7043ab96dd4a | 78 | ServoGen& operator= (int pulse_us); |
jebradshaw | 4:7043ab96dd4a | 79 | ServoGen& operator= (ServoGen& rhs); |
jebradshaw | 3:edc18509ff11 | 80 | operator int(); |
jebradshaw | 0:67dd4036010a | 81 | |
jebradshaw | 0:67dd4036010a | 82 | private: |
jebradshaw | 0:67dd4036010a | 83 | void tickFunct(void); //Function that takes care of the servo pulse generation |
jebradshaw | 0:67dd4036010a | 84 | Ticker *ticker; //pointer to ticker object |
jebradshaw | 0:67dd4036010a | 85 | DigitalOut _pin; //make assigned pin a digital output |
jebradshaw | 0:67dd4036010a | 86 | int _sCycle; //flag to toggle for keeping track of servo cycle |
jebradshaw | 0:67dd4036010a | 87 | }; |
jebradshaw | 0:67dd4036010a | 88 | |
jebradshaw | 0:67dd4036010a | 89 | #endif |