Diff: Servo/Servo.h

Revision:

0:0c4fafa398b4

Child:

1:5a64632b1eb9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo/Servo.h	Wed Sep 26 12:15:00 2012 +0000
@@ -0,0 +1,71 @@
+// based on http://mbed.org/users/jdenkers/code/Servo/
+
+#ifndef __SERVO_H
+#define __SERVO_H
+
+#include "mbed.h"
+
+/** Class to control a servo on any pin, without using pwm
+ *
+ * Example:
+ * @code
+ * // Keep sweeping servo from left to right
+ * #include "mbed.h"
+ * #include "Servo.h"
+ * 
+ * Servo Servo1(p20);
+ *
+ * Servo1.Enable(1500,20000);
+ *
+ * while(1) {
+ *     for (int pos = 1000; pos < 2000; pos += 25) {
+ *         Servo1.SetPosition(pos);  
+ *         wait_ms(20);
+ *     }
+ *     for (int pos = 2000; pos > 1000; pos -= 25) {
+ *         Servo1.SetPosition(pos); 
+ *         wait_ms(20); 
+ *     }
+ * }
+ * @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);
+    
+    /** 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 Period The time between every pulse. 20000 us = 50 Hz(standard) (us)
+     */
+    void Enable(int StartPos, int Period);
+    
+    //Disable the servo. After disabling the servo won't get any signal anymore
+    void Disable();
+    
+    //operator for confortable positioning
+    void operator=(int position);
+
+private:
+    void StartPulse();
+    void EndPulse();
+
+    int Position;
+    DigitalOut ServoPin;
+    Ticker Pulse;
+    Timeout PulseStop;
+};
+
+#endif
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