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@1:7d669a801bb0, 2014-09-26 (annotated)

Committer:
jebradshaw
Date:
Fri Sep 26 19:47:23 2014 +0000
Revision:
1:7d669a801bb0
Parent:
0:67dd4036010a
Child:
2:44766ee77ce0
Servo pulse generation library;  v1.0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jebradshaw 0:67dd4036010a 1 // J. Bradshaw 20140925
jebradshaw 1:7d669a801bb0 2 /** SERVOGEN Class for Generating servo pulses on single output pin
jebradshaw 1:7d669a801bb0 3 *
jebradshaw 1:7d669a801bb0 4 * Example:
jebradshaw 1:7d669a801bb0 5 * @code
jebradshaw 1:7d669a801bb0 6 *#include "mbed.h"
jebradshaw 1:7d669a801bb0 7 *#include "SERVOGEN.h"
jebradshaw 1:7d669a801bb0 8 *
jebradshaw 1:7d669a801bb0 9 *SERVOGEN servo1(p21);
jebradshaw 1:7d669a801bb0 10 *SERVOGEN servo2(p24);
jebradshaw 1:7d669a801bb0 11 *DigitalOut led1(LED1);
jebradshaw 1:7d669a801bb0 12 *
jebradshaw 1:7d669a801bb0 13 *int main() {
jebradshaw 1:7d669a801bb0 14 * servo1.pulse_us = 0;
jebradshaw 1:7d669a801bb0 15 * // spin in a main loop. flipper will interrupt it to call flip
jebradshaw 1:7d669a801bb0 16 * while(1) {
jebradshaw 1:7d669a801bb0 17 * for(float cycle=0.0;cycle<2.0*3.14159;cycle+=.003){
jebradshaw 1:7d669a801bb0 18 * //small amplitude sine wave on servo1
jebradshaw 1:7d669a801bb0 19 * servo1.pulse_us = 300 * sin(cycle) + 1500;
jebradshaw 1:7d669a801bb0 20 * //ramp up the second servo2 channel relative to cycle
jebradshaw 1:7d669a801bb0 21 * servo2.pulse_us = 1000 + cycle*159; // .001/(2*PI)
jebradshaw 1:7d669a801bb0 22 *
jebradshaw 1:7d669a801bb0 23 * wait(.001); //short delay
jebradshaw 1:7d669a801bb0 24 * }
jebradshaw 1:7d669a801bb0 25 * led1 = !led1; //toggle led1 to indicate activity
jebradshaw 1:7d669a801bb0 26 * }//while(1)
jebradshaw 1:7d669a801bb0 27 *}//main
jebradshaw 1:7d669a801bb0 28 *
jebradshaw 1:7d669a801bb0 29 *@endcode
jebradshaw 1:7d669a801bb0 30 */
jebradshaw 1:7d669a801bb0 31
jebradshaw 0:67dd4036010a 32 #ifndef MBED_SERVOGEN_H
jebradshaw 0:67dd4036010a 33 #define MBED_SERVOGEN_H
jebradshaw 0:67dd4036010a 34
jebradshaw 0:67dd4036010a 35 #include "mbed.h"
jebradshaw 0:67dd4036010a 36
jebradshaw 0:67dd4036010a 37 /**
jebradshaw 0:67dd4036010a 38 * SERVOGEN Class.
jebradshaw 0:67dd4036010a 39 */
jebradshaw 0:67dd4036010a 40
jebradshaw 0:67dd4036010a 41 class SERVOGEN {
jebradshaw 0:67dd4036010a 42 public:
jebradshaw 0:67dd4036010a 43 /**
jebradshaw 0:67dd4036010a 44 * Constructor.
jebradshaw 0:67dd4036010a 45 *
jebradshaw 0:67dd4036010a 46 * @param pin - servo pulse output pin
jebradshaw 0:67dd4036010a 47 */
jebradshaw 0:67dd4036010a 48 SERVOGEN(PinName pin);
jebradshaw 0:67dd4036010a 49
jebradshaw 0:67dd4036010a 50 int pulse_us; //determines the pulse width in microseconds (default is 0 = OFF)
jebradshaw 0:67dd4036010a 51 int pulseMin; //minimum pulse width (default is 900 microseconds)
jebradshaw 0:67dd4036010a 52 int pulseMax; //maximum pulse width (default is 2100 microseconds)
jebradshaw 0:67dd4036010a 53
jebradshaw 0:67dd4036010a 54 private:
jebradshaw 0:67dd4036010a 55 void tickFunct(void); //Function that takes care of the servo pulse generation
jebradshaw 0:67dd4036010a 56 Ticker *ticker; //pointer to ticker object
jebradshaw 0:67dd4036010a 57 DigitalOut _pin; //make assigned pin a digital output
jebradshaw 0:67dd4036010a 58 int _sCycle; //flag to toggle for keeping track of servo cycle
jebradshaw 0:67dd4036010a 59 };
jebradshaw 0:67dd4036010a 60
jebradshaw 0:67dd4036010a 61 #endif