CarlsenBot Claw Servo

Dependents:   ECE4180FinalV4

Fork of Servo by Simon Ford

Committer:
simon
Date:
Tue May 18 19:06:10 2010 +0000
Revision:
2:8995c167f399
Parent:
0:24148c673250
Child:
3:36b69a7ced07

        

Who changed what in which revision?

UserRevisionLine numberNew contents of line
simon 2:8995c167f399 1 /* mbed R/C Servo Library
simon 2:8995c167f399 2 *
simon 2:8995c167f399 3 * Copyright (c) 2007-2010 sford, cstyles
simon 2:8995c167f399 4 *
simon 2:8995c167f399 5 * Permission is hereby granted, free of charge, to any person obtaining a copy
simon 2:8995c167f399 6 * of this software and associated documentation files (the "Software"), to deal
simon 2:8995c167f399 7 * in the Software without restriction, including without limitation the rights
simon 2:8995c167f399 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
simon 2:8995c167f399 9 * copies of the Software, and to permit persons to whom the Software is
simon 2:8995c167f399 10 * furnished to do so, subject to the following conditions:
simon 2:8995c167f399 11 *
simon 2:8995c167f399 12 * The above copyright notice and this permission notice shall be included in
simon 2:8995c167f399 13 * all copies or substantial portions of the Software.
simon 2:8995c167f399 14 *
simon 2:8995c167f399 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
simon 2:8995c167f399 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
simon 2:8995c167f399 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
simon 2:8995c167f399 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
simon 2:8995c167f399 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
simon 2:8995c167f399 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
simon 2:8995c167f399 21 * THE SOFTWARE.
simon 0:24148c673250 22 */
simon 0:24148c673250 23
simon 0:24148c673250 24 #ifndef MBED_SERVO_H
simon 0:24148c673250 25 #define MBED_SERVO_H
simon 0:24148c673250 26
simon 0:24148c673250 27 #include "mbed.h"
simon 0:24148c673250 28
simon 0:24148c673250 29 /* Class: Servo
simon 2:8995c167f399 30 * Servo control class, based on a PwmOut
simon 0:24148c673250 31 *
simon 0:24148c673250 32 * Example:
simon 0:24148c673250 33 * > // Continuously sweep the servo through it's full range
simon 0:24148c673250 34 * > #include "mbed.h"
simon 0:24148c673250 35 * > #include "Servo.h"
simon 0:24148c673250 36 * >
simon 0:24148c673250 37 * > Servo myservo(p21);
simon 0:24148c673250 38 * >
simon 0:24148c673250 39 * > int main() {
simon 0:24148c673250 40 * > while(1) {
simon 0:24148c673250 41 * > for(int i=0; i<100; i++) {
simon 0:24148c673250 42 * > myservo = i/100.0;
simon 0:24148c673250 43 * > wait(0.01);
simon 0:24148c673250 44 * > }
simon 0:24148c673250 45 * > for(int i=100; i>0; i--) {
simon 0:24148c673250 46 * > myservo = i/100.0;
simon 0:24148c673250 47 * > wait(0.01);
simon 0:24148c673250 48 * > }
simon 0:24148c673250 49 * > }
simon 0:24148c673250 50 * > }
simon 0:24148c673250 51 */
simon 0:24148c673250 52 class Servo {
simon 0:24148c673250 53
simon 0:24148c673250 54 public:
simon 0:24148c673250 55 /* Constructor: Servo
simon 0:24148c673250 56 * Create a servo object connected to the specified PwmOut pin
simon 0:24148c673250 57 *
simon 0:24148c673250 58 * Variables:
simon 0:24148c673250 59 * pin - PwmOut pin to connect to
simon 0:24148c673250 60 */
simon 0:24148c673250 61 Servo(PinName pin);
simon 0:24148c673250 62
simon 0:24148c673250 63 /* Function: write
simon 0:24148c673250 64 * Set the servo position, normalised to it's full range
simon 0:24148c673250 65 *
simon 0:24148c673250 66 * Variables:
simon 0:24148c673250 67 * percent - A normalised number 0.0-1.0 to represent the full range.
simon 0:24148c673250 68 */
simon 0:24148c673250 69 void write(float percent);
simon 0:24148c673250 70
simon 0:24148c673250 71 /* Function: read
simon 0:24148c673250 72 * Read the servo motors current position
simon 0:24148c673250 73 *
simon 0:24148c673250 74 * Variables:
simon 0:24148c673250 75 * returns - A normalised number 0.0-1.0 representing the full range.
simon 0:24148c673250 76 */
simon 0:24148c673250 77 float read();
simon 0:24148c673250 78
simon 0:24148c673250 79 /* Function: position
simon 0:24148c673250 80 * Set the servo position
simon 0:24148c673250 81 *
simon 0:24148c673250 82 * Variables:
simon 0:24148c673250 83 * degrees - Servo position in degrees
simon 0:24148c673250 84 */
simon 0:24148c673250 85 void position(float degrees);
simon 0:24148c673250 86
simon 0:24148c673250 87 /* Function: calibrate
simon 0:24148c673250 88 * Allows calibration of the range and angles for a particular servo
simon 0:24148c673250 89 *
simon 0:24148c673250 90 *
simon 0:24148c673250 91 * Variables:
simon 0:24148c673250 92 * range - Pulsewidth range from center (1.5ms) to maximum/minimum position in seconds
simon 0:24148c673250 93 * degrees - Angle from centre to maximum/minimum position in degrees
simon 0:24148c673250 94 */
simon 0:24148c673250 95 void calibrate(float range = 0.0005, float degrees = 45.0);
simon 0:24148c673250 96
simon 0:24148c673250 97 /* Function: operator=
simon 0:24148c673250 98 * Shorthand for the write and read functions
simon 0:24148c673250 99 */
simon 0:24148c673250 100 Servo& operator= (float percent);
simon 0:24148c673250 101 Servo& operator= (Servo& rhs);
simon 0:24148c673250 102 operator float();
simon 0:24148c673250 103
simon 0:24148c673250 104 protected:
simon 0:24148c673250 105 PwmOut _pwm;
simon 0:24148c673250 106 float _range;
simon 0:24148c673250 107 float _degrees;
simon 0:24148c673250 108 float _p;
simon 0:24148c673250 109 };
simon 0:24148c673250 110
simon 0:24148c673250 111 #endif