UniServ.h

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  #ifndef MBED_UNISERVE_H
00024  #define MBED_UNISERVE_H
00025  
00026  #include "mbed.h"
00027  
00028  class UniServ{
00029  
00030  public:
00031     UniServ(PinName);
00032     void write_us(int);
00033     int read_us();
00034     void Disable();     // Dodao
00035     
00036  private:
00037     void SigStart();
00038     void SigStop();
00039     DigitalOut ServPin;
00040     int Period;
00041     int Position;
00042     int ServMin;
00043     int ServMax;
00044     Ticker Pulse;
00045     Timeout PulseEnd;
00046  
00047  };
00048     
00049     
00050 #endif
00051