Matthias Grob / Mbed 2 deprecated FlyBed3

Successful acro and level mode now! Relying on MPU9250 as base sensor. I'm working continuously on tuning and features :) NEWEST VERSION ON: https://github.com/MaEtUgR/FlyBed (CODE 100% compatible/copyable)

Dependencies:   mbed

Servo/Servo.h@8:609a2ad4c30e, 2015-11-19 (annotated)

Committer:
maetugr
Date:
Thu Nov 19 18:47:27 2015 +0000
Revision:
8:609a2ad4c30e
Parent:
0:37f0c1e8fa66 
made I2C-Sensors working in parallel, added rolling buffer for PID derivative, played with the PID and frequency parameters in main

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 0:37f0c1e8fa66 1 // based on http://mbed.org/users/jdenkers/code/Servo/
maetugr 0:37f0c1e8fa66 2
maetugr 0:37f0c1e8fa66 3 #ifndef SERVO_H
maetugr 0:37f0c1e8fa66 4 #define SERVO_H
maetugr 0:37f0c1e8fa66 5
maetugr 0:37f0c1e8fa66 6 #include "mbed.h"
maetugr 0:37f0c1e8fa66 7
maetugr 0:37f0c1e8fa66 8 /** Class to control a servo on any pin, without using pwm
maetugr 0:37f0c1e8fa66 9 *
maetugr 0:37f0c1e8fa66 10 * Example:
maetugr 0:37f0c1e8fa66 11 * @code
maetugr 0:37f0c1e8fa66 12 * // Keep sweeping servo from left to right
maetugr 0:37f0c1e8fa66 13 * #include "mbed.h"
maetugr 0:37f0c1e8fa66 14 * #include "Servo.h"
maetugr 0:37f0c1e8fa66 15 *
maetugr 0:37f0c1e8fa66 16 * Servo Servo1(p20);
maetugr 0:37f0c1e8fa66 17 *
maetugr 0:37f0c1e8fa66 18 * Servo1.Enable(1500,20000);
maetugr 0:37f0c1e8fa66 19 *
maetugr 0:37f0c1e8fa66 20 * while(1) {
maetugr 0:37f0c1e8fa66 21 * for (int pos = 1000; pos < 2000; pos += 25) {
maetugr 0:37f0c1e8fa66 22 * Servo1.SetPosition(pos);
maetugr 0:37f0c1e8fa66 23 * wait_ms(20);
maetugr 0:37f0c1e8fa66 24 * }
maetugr 0:37f0c1e8fa66 25 * for (int pos = 2000; pos > 1000; pos -= 25) {
maetugr 0:37f0c1e8fa66 26 * Servo1.SetPosition(pos);
maetugr 0:37f0c1e8fa66 27 * wait_ms(20);
maetugr 0:37f0c1e8fa66 28 * }
maetugr 0:37f0c1e8fa66 29 * }
maetugr 0:37f0c1e8fa66 30 * @endcode
maetugr 0:37f0c1e8fa66 31 */
maetugr 0:37f0c1e8fa66 32
maetugr 0:37f0c1e8fa66 33 class Servo {
maetugr 0:37f0c1e8fa66 34
maetugr 0:37f0c1e8fa66 35 public:
maetugr 0:37f0c1e8fa66 36 /** Create a new Servo object on any mbed pin
maetugr 0:37f0c1e8fa66 37 *
maetugr 0:37f0c1e8fa66 38 * @param Pin Pin on mbed to connect servo to
maetugr 0:37f0c1e8fa66 39 */
maetugr 0:37f0c1e8fa66 40 Servo(PinName Pin, int frequency);
maetugr 0:37f0c1e8fa66 41 void SetFrequency(int frequency);
maetugr 0:37f0c1e8fa66 42
maetugr 0:37f0c1e8fa66 43 /** Change the position of the servo. Position in us
maetugr 0:37f0c1e8fa66 44 *
maetugr 0:37f0c1e8fa66 45 * @param NewPos The new value of the servos position (us)
maetugr 0:37f0c1e8fa66 46 */
maetugr 0:37f0c1e8fa66 47 void SetPosition(int NewPos);
maetugr 0:37f0c1e8fa66 48
maetugr 0:37f0c1e8fa66 49 /** Enable the servo. Without enabling the servo won't be running. Startposition and period both in us.
maetugr 0:37f0c1e8fa66 50 *
maetugr 0:37f0c1e8fa66 51 * @param StartPos The position of the servo to start (us)
maetugr 0:37f0c1e8fa66 52 * @param Period The time between every pulse. 20000 us = 50 Hz(standard) (us)
maetugr 0:37f0c1e8fa66 53 */
maetugr 0:37f0c1e8fa66 54 void Enable(int StartPos, int Period);
maetugr 0:37f0c1e8fa66 55
maetugr 0:37f0c1e8fa66 56 //Disable the servo. After disabling the servo won't get any signal anymore
maetugr 0:37f0c1e8fa66 57 void Disable();
maetugr 0:37f0c1e8fa66 58
maetugr 0:37f0c1e8fa66 59 //operator for confortable positioning
maetugr 0:37f0c1e8fa66 60 void operator=(int position);
maetugr 0:37f0c1e8fa66 61
maetugr 0:37f0c1e8fa66 62
maetugr 0:37f0c1e8fa66 63 private:
maetugr 0:37f0c1e8fa66 64 void StartPulse();
maetugr 0:37f0c1e8fa66 65 void EndPulse();
maetugr 0:37f0c1e8fa66 66
maetugr 0:37f0c1e8fa66 67 int Position;
maetugr 0:37f0c1e8fa66 68 DigitalOut ServoPin;
maetugr 0:37f0c1e8fa66 69 Ticker Pulse;
maetugr 0:37f0c1e8fa66 70 Timeout PulseStop;
maetugr 0:37f0c1e8fa66 71 };
maetugr 0:37f0c1e8fa66 72
maetugr 0:37f0c1e8fa66 73 #endif