Library for Pololu Maestro Servo Controller http://www.pololu.com/docs/0J40
Library for Pololu Maestro Servo Controller
Library docs: https://developer.mbed.org/users/kochansky/code/Maestro/docs/f374c7b60318/classMaestro.html
Example usage:
#include "mbed.h" #include "Maestro.h" Maestro maestro(PTC4,PTC3); int main() { maestro.setBaudRate(9600); // limit speed for each servo for (uint8_t i = 0; i < 17; i++) { maestro.setSpeed(i, 10); } while (true) { // set servo on channel 0 to 90 degrees maestro.setServoAngle(0, 90); wait(2); // set servo on channel 0 to 45 degrees maestro.setServoAngle(0, 45); wait(2); } }
Serial commands based on manual: http://www.pololu.com/docs/0J40/5.e
Device pinout:
Maestro.h
- Committer:
- kochansky
- Date:
- 2014-01-05
- Revision:
- 3:1c654893354d
- Parent:
- 2:39356b408262
- Child:
- 4:ef4d23c023ea
File content as of revision 3:1c654893354d:
/** * @author Przemysław Kochański * * @section DESCRIPTION * * Library for Pololu Maestro Servo Controller * Serial Servo Commands: http://www.pololu.com/docs/0J40/5.e */ #ifndef MAESTRO #define MAESTRO #include "mbed.h" /** * Compact Protocol Command Bytes */ #define SET_TARGET 0x84 #define SER_MULTUPLE_TARGETS 0x9F #define SET_SPEED 0x87 #define SET_ACCELERATION 0x89 #define SET_PWM 0x8A #define GET_POSITION 0x90 #define GET_MOVING_STATE 0x93 #define GET_ERRORS 0xA1 #define GO_HOME 0xA2 #define BAUD_RATE_IDICATION 0xAA /** * Pololu Maestro Servo Controller */ class Maestro { public: /** * Constructor * * @param tx - mbed pin to use for TX serial line * @param rx - mbed pin to use for RX serial line */ Maestro(PinName tx, PinName rx); void init(); /** * Sets the target of a channel to a specified value * * @param channel - number a servo channel * @param target - the pulse width to transmit in units of quarter-microseconds */ void setTarget(uint8_t channel, uint16_t target); //void setMultipleTargets(int* channels, int* targets); /** * Limits the speed at which a servo channel's output value changes * * @param channel - number of a servo channel * @param speed - speed of the servo in units of 0.25 μs / (10 ms) */ void setSpeed(int channel, int speed); /** * Limits the acceleration of a servo channel's output * * @param channel - number of a servo channel * @param acceleration - acceleration of the servo in units of (0.25 μs) / (10 ms) / (80 ms) */ void setAcceleration(int channel, int acceleration); private: Serial serial; Serial pc; }; #endif // Maestro