Przemysław Kochański / Maestro

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:

/media/uploads/kochansky/maestro.jpg

Maestro.cpp

Committer:
kochansky
Date:
2014-01-05
Revision:
4:ef4d23c023ea
Parent:
3:1c654893354d
Child:
5:0fd491357750

File content as of revision 4:ef4d23c023ea:

/**
 * @author Przemysław Kochański
 *
 * @section DESCRIPTION
 *
 * Library for Pololu Maestro Servo Controller
 * Serial Servo Commands: http://www.pololu.com/docs/0J40/5.e
 */

#include "Maestro.h"

Maestro::Maestro(PinName tx, PinName rx) : serial(tx, rx), pc(USBTX, USBRX)
{
    serial.format(8, SerialBase::None, 1); //8N1
}

void Maestro::setBaudRate(uint16_t baud)
{
    serial.baud(baud);
    serial.putc(BAUD_RATE_IDICATION);
}

void Maestro::setTarget(uint8_t channel, uint16_t target)
{
    serial.putc(SET_TARGET);
    serial.putc(channel);
    serial.putc(target & 0x7F);
    serial.putc((target >> 7) & 0x7F);
}

void Maestro::setServoAngle(uint8_t channel, int8_t angle)
{
    setTarget(channel, angle * 40 + 6000);
}