Diff: speedservo.h

Revision:

0:b583163ca5b3

Child:

1:331042d0fbff

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/speedservo.h	Fri Jan 18 03:57:28 2019 +0000
@@ -0,0 +1,118 @@
+/* mbed Servo Library without using PWM pins
+ * Copyright (c) 2010 Jasper Denkers
+ *
+ * Changes and additions made by David Garrison, October 2015 to add ability to independently control each servo's speed
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MBED_SERVO_H
+#define MBED_SERVO_H
+
+#include "mbed.h"
+
+/** Class to control servos on any pin, without using pwm 
+ * Tested on Nucleo -L152RE @40MHz MCU clock and the 
+ *  st disco -f746ng RUNNING AT 216mhZ.
+ *
+ * Example:
+ * @code
+ *
+ * // Keep sweeping two servos from left to right
+ * #include "mbed.h"
+ * #include "Servo.h"
+ * 
+ *int main()
+ *{
+ *
+ *   Servo Servo1(D12);            // create new instance of servo with output pin number
+ *   Servo Servo2(D10);
+ *   Servo1.Enable(1500,50,10);    // Start position ; in us (1500 = center), servo refresh rate in Hz (analog servos = 50 Hz), servo movement speed range from 1-50, 1 slowest, about 20 seconds/180 degrees
+ *   Servo2.Enable(1500,50,10);
+ *   while(1) {
+ *
+ *       Servo1.SetPosition(2300);
+ *       Servo2.SetPosition(2300);
+ *       wait(2.5);
+ *
+ *
+ *       Servo1.SetPosition(700);
+ *       Servo2.SetPosition(700);
+ *       wait(2.5);
+ *   }
+ *
+ *}
+ * @endcode
+ */
+
+class Servo {
+
+public:
+    /** Create a new Servo object on any mbed pin
+     *
+     * @param Pin Pin on mbed to connect servo to
+     */
+    Servo(PinName Pin);
+    
+    /** Change the position of the servo. Position in us
+     *
+     * @param NewPos The new value of the servos position (us)
+     */
+    void SetPosition(int NewPos);
+    
+    /** speed oonversion from arbitary range of 1-50 to us to set Ticker Speed rate.
+    * used in Enable function
+    */
+    int SpeedConvert (int _speed);  
+    
+    /** Enable the servo. Without enabling the servo won't be running. Startposition and period both in us.
+     *
+     * @param StartPos The position of the servo to start (us) 
+     * @param RefreshRate.set in Hz  The time between every servo pulse. 20000 us = 50 Hz(standard) (us) 
+                Analog servos typically use a 50Hz refresh rate, while digital servos can use up to a 300Hz refresh rate. 
+     * @parm _speed The time between updating the pulse width of the servo pulses --controls speed of servo movement
+     */
+    void Enable(int StartPos, int RefreshRate, int _speed);
+    
+    /** Disable the servo. After disabling the servo won't get any signal anymore
+     *
+     */     
+     void Disable();
+     
+     /** determines direction of servo's move, called by Ticker Speed
+     */
+     void Update();
+     //int Position;
+     int speed;
+     int CurrentPosition;
+    
+
+private:
+    void StartPulse();
+    void EndPulse();
+    int Position;
+    int Period; 
+    int NewPosition;
+    DigitalOut ServoPin;
+    Ticker Pulse;
+    Ticker Speed;
+    Timeout PulseStop;
+};
+
+#endif
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