Servo.h

00001 /* mbed Servo Library without using PWM pins
00002  * Copyright (c) 2010 Jasper Denkers
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_SERVO_H
00024 #define MBED_SERVO_H
00025 
00026 #include "mbed.h"
00027 
00028 class Servo
00029 {
00030 
00031 public:
00032 
00033     Servo(PinName Pin);
00034     void SetPeriod(float _Period);
00035     void SetPosition(float _Input);
00036     void Enable(float _StartInput, int _Period);
00037     void Enable();
00038     void Disable();
00039     bool isEnabled();
00040 
00041 private:
00042 
00043     static const float MIN_INPUT;
00044     static const float MAX_INPUT;
00045 
00046     void StartPulse();
00047     void EndPulse();
00048 
00049     bool servoEnabled;
00050     int Position, Period;
00051     DigitalOut ServoPin;
00052     Ticker Pulse;
00053     Timeout PulseStop;
00054 };
00055 
00056 #endif