Matthias Grob
/
FlyBed2
My fully self designed first stable working Quadrocopter Software.
Diff: Servo/Servo.h
- Revision:
- 5:06e978fd147a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo/Servo.h Sun Jul 06 05:51:25 2014 +0000 @@ -0,0 +1,73 @@ +// 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, int frequency); + void SetFrequency(int frequency); + + /** 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 \ No newline at end of file