A Servo control library that works on any output pin, not just the PWM pins
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Diff: UniServ.cpp
- Revision:
- 0:dde1a0011645
- Child:
- 1:74fdb2c8ae56
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/UniServ.cpp Wed Oct 13 23:53:29 2010 +0000 @@ -0,0 +1,55 @@ +/* UniServ Servo Library + * Copyright (c) 2010 Matt Parsons + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + + #include "mbed.h" + #include "UniServ.h" + + UniServ::UniServ(PinName pin) : ServPin(pin){ + Period=20000; + Position=1500; + ServMin=400; + ServMax=2600; + + Pulse.attach_us(this,&UniServ::SigStart,Period); + } + + void UniServ::SigStart(){ + ServPin=1; + PulseEnd.attach_us(this,&UniServ::SigStop,Position); + } + + void UniServ::SigStop(){ + ServPin=0; + } + + void UniServ::write_us(int PosIn){ + Position=PosIn; + if(PosIn<ServMin){Position=ServMin;} + if(PosIn>ServMax){Position=ServMax;} + } + + int UniServ::read_us(){ + return Position; + } + + + \ No newline at end of file