jim herd
Access SD21 21 channel servo controller
SD21.h@1:b9fd24c9f6ef, 2011-03-26 (annotated)
- Committer:
- jimherd
- Date:
- Sat Mar 26 00:43:38 2011 +0000
- Revision:
- 1:b9fd24c9f6ef
- Parent:
- 0:0f81e14bfae9
- Child:
- 2:292c59c8c51e
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| jimherd | 0:0f81e14bfae9 | 1 | /* |
| jimherd | 0:0f81e14bfae9 | 2 | SD21 - 21 Channel Servo Driver Module Library |
| jimherd | 0:0f81e14bfae9 | 3 | Copyright (c) 2011 Jim Herd |
| jimherd | 0:0f81e14bfae9 | 4 | |
| jimherd | 0:0f81e14bfae9 | 5 | This program is free software: you can redistribute it and/or modify |
| jimherd | 0:0f81e14bfae9 | 6 | it under the terms of the GNU General Public License as published by |
| jimherd | 0:0f81e14bfae9 | 7 | the Free Software Foundation, either version 3 of the License, or |
| jimherd | 0:0f81e14bfae9 | 8 | (at your option) any later version. |
| jimherd | 0:0f81e14bfae9 | 9 | |
| jimherd | 0:0f81e14bfae9 | 10 | This program is distributed in the hope that it will be useful, |
| jimherd | 0:0f81e14bfae9 | 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
| jimherd | 0:0f81e14bfae9 | 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| jimherd | 0:0f81e14bfae9 | 13 | GNU General Public License for more details. |
| jimherd | 0:0f81e14bfae9 | 14 | |
| jimherd | 0:0f81e14bfae9 | 15 | You should have received a copy of the GNU General Public License |
| jimherd | 0:0f81e14bfae9 | 16 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
| jimherd | 0:0f81e14bfae9 | 17 | */ |
| jimherd | 0:0f81e14bfae9 | 18 | #ifndef MBED_SD21_H |
| jimherd | 0:0f81e14bfae9 | 19 | #define MBED_SD21_H |
| jimherd | 0:0f81e14bfae9 | 20 | |
| jimherd | 0:0f81e14bfae9 | 21 | #include "mbed.h" |
| jimherd | 0:0f81e14bfae9 | 22 | |
| jimherd | 0:0f81e14bfae9 | 23 | #define SD21_I2C_ADDRESS 0xC2 |
| jimherd | 1:b9fd24c9f6ef | 24 | #define NOS_SD21_SERVOS 21 |
| jimherd | 0:0f81e14bfae9 | 25 | |
| jimherd | 0:0f81e14bfae9 | 26 | #define SERVO16_1 0 |
| jimherd | 0:0f81e14bfae9 | 27 | #define SERVO16_2 3 |
| jimherd | 0:0f81e14bfae9 | 28 | |
| jimherd | 0:0f81e14bfae9 | 29 | #define SERVO8_1 63 |
| jimherd | 0:0f81e14bfae9 | 30 | #define SERVO8_2 64 |
| jimherd | 0:0f81e14bfae9 | 31 | |
| jimherd | 0:0f81e14bfae9 | 32 | typedef struct { |
| jimherd | 0:0f81e14bfae9 | 33 | int angle; |
| jimherd | 0:0f81e14bfae9 | 34 | int init_angle; |
| jimherd | 0:0f81e14bfae9 | 35 | int speed; |
| jimherd | 0:0f81e14bfae9 | 36 | } SD21_servo_state_t ; |
| jimherd | 0:0f81e14bfae9 | 37 | |
| jimherd | 0:0f81e14bfae9 | 38 | class SD21 { |
| jimherd | 0:0f81e14bfae9 | 39 | public: |
| jimherd | 0:0f81e14bfae9 | 40 | /** Constructor for the SD21 connected to specified I2C pins at a specific address |
| jimherd | 0:0f81e14bfae9 | 41 | * |
| jimherd | 0:0f81e14bfae9 | 42 | * 21 Channel Servo Driver Module |
| jimherd | 0:0f81e14bfae9 | 43 | * |
| jimherd | 0:0f81e14bfae9 | 44 | * @param sda I2C data pin |
| jimherd | 0:0f81e14bfae9 | 45 | * @param scl I2C clock pin |
| jimherd | 0:0f81e14bfae9 | 46 | * @param i2cAddress I2C address |
| jimherd | 0:0f81e14bfae9 | 47 | */ |
| jimherd | 0:0f81e14bfae9 | 48 | SD21(PinName sda, PinName scl); |
| jimherd | 0:0f81e14bfae9 | 49 | |
| jimherd | 0:0f81e14bfae9 | 50 | /** Reset SD21 device to its power-on state |
| jimherd | 0:0f81e14bfae9 | 51 | */ |
| jimherd | 0:0f81e14bfae9 | 52 | void reset(void); |
| jimherd | 0:0f81e14bfae9 | 53 | |
| jimherd | 0:0f81e14bfae9 | 54 | /** set a single servo value and associated speed using the full 16-bit registers |
| jimherd | 0:0f81e14bfae9 | 55 | * |
| jimherd | 0:0f81e14bfae9 | 56 | * @param servo_num 1 to 21 |
| jimherd | 0:0f81e14bfae9 | 57 | * @param angle 0 to 90 (degrees) |
| jimherd | 0:0f81e14bfae9 | 58 | * @param speed 0 to 255 |
| jimherd | 0:0f81e14bfae9 | 59 | */ |
| jimherd | 0:0f81e14bfae9 | 60 | void set_servo(int servo_num, int angle, int speed); |
| jimherd | 0:0f81e14bfae9 | 61 | |
| jimherd | 0:0f81e14bfae9 | 62 | protected: |
| jimherd | 0:0f81e14bfae9 | 63 | I2C _i2c; |
| jimherd | 0:0f81e14bfae9 | 64 | SD21_servo_state_t servo_state[21]; |
| jimherd | 0:0f81e14bfae9 | 65 | |
| jimherd | 0:0f81e14bfae9 | 66 | union { |
| jimherd | 0:0f81e14bfae9 | 67 | uint8_t value8[4]; |
| jimherd | 0:0f81e14bfae9 | 68 | uint16_t value16[2]; |
| jimherd | 0:0f81e14bfae9 | 69 | uint32_t value32; |
| jimherd | 0:0f81e14bfae9 | 70 | } SD21_tmp_data; |
| jimherd | 0:0f81e14bfae9 | 71 | }; |
| jimherd | 0:0f81e14bfae9 | 72 | |
| jimherd | 0:0f81e14bfae9 | 73 | #endif |