UniServ.cpp

00001 /* UniServ Servo Library
00002 * Copyright (c) 2010 Matt Parsons
00003 *
00004 * Permission is hereby granted, free of charge, to any person obtaining a copy
00005 * of this software and associated documentation files (the "Software"), to deal
00006 * in the Software without restriction, including without limitation the rights
00007 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008 * copies of the Software, and to permit persons to whom the Software is
00009 * furnished to do so, subject to the following conditions:
00010 *
00011 * The above copyright notice and this permission notice shall be included in
00012 * all copies or substantial portions of the Software.
00013 *
00014 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00020 * THE SOFTWARE.
00021 */
00022  
00023  
00024 /** Default metoda za servo motor C90
00025 * @code
00026 * #include "mbed.h"
00027 * #include "UniServ.h"
00028 *
00029 * t.start();
00030 * sMotor.write_us(2000);
00031 * t.stop();
00032 * pc.printf("%f\n\r", t.read());
00033 * wait_ms(1000);
00034 * t.reset();
00035 * t.start();
00036 * sMotor.write_us(0);
00037 * t.stop();
00038 * pc.printf("%f\n\r", t.read());
00039 * wait_ms(1000);
00040 * t.reset();
00041 * t.start();
00042 * sMotor.write_us(3000);
00043 * t.stop();
00044 * pc.printf("%f\n\r", t.read());
00045 * wait_ms(1000);
00046 * t.reset();
00047 * t.start();
00048 * sMotor.write_us(1000);
00049 * t.stop();
00050 * pc.printf("%f\n\r", t.read());
00051 * wait_ms(1000);
00052 * sMotor.Disable();
00053 *
00054 * Dodao metodu Disable() zbog toga da se oslobodi
00055 * cpu dok se ne izvrši slijedeća operacija
00056 * @endcode
00057 */
00058  
00059 #include "mbed.h"
00060 #include "UniServ.h"
00061 
00062 UniServ::UniServ(PinName pin) : ServPin(pin){
00063     Period=20000;
00064     Position=1500;
00065     ServMin=400;
00066     ServMax=2600;
00067 
00068   Pulse.attach_us(this,&UniServ::SigStart,Period);
00069  }
00070 
00071 void UniServ::SigStart(){
00072     ServPin=1;
00073     PulseEnd.attach_us(this,&UniServ::SigStop,Position);   
00074  }
00075 
00076 void UniServ::SigStop(){
00077     ServPin=0;
00078  }
00079 
00080 void UniServ::write_us(int PosIn){
00081     Position=PosIn;
00082     if(PosIn<ServMin){Position=ServMin;}
00083     if(PosIn>ServMax){Position=ServMax;}
00084  }
00085  
00086  int UniServ::read_us(){
00087     return Position;
00088  }
00089  void UniServ::Disable() {
00090     Pulse.detach();
00091  }
00092     
00093 
00094