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Dependencies:   mbed mbed-rtos SPI_MX25R

Control/Servo/Servo.h@0:d6402bcd58f7, 2018-12-01 (annotated)

Committer:
shimogamo
Date:
Sat Dec 01 15:10:42 2018 +0000
Revision:
0:d6402bcd58f7
BIRD2018????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimogamo 0:d6402bcd58f7 1 /* mbed R/C Servo Library
shimogamo 0:d6402bcd58f7 2 * Copyright (c) 2007-2010 sford, cstyles
shimogamo 0:d6402bcd58f7 3 *
shimogamo 0:d6402bcd58f7 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
shimogamo 0:d6402bcd58f7 5 * of this software and associated documentation files (the "Software"), to deal
shimogamo 0:d6402bcd58f7 6 * in the Software without restriction, including without limitation the rights
shimogamo 0:d6402bcd58f7 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
shimogamo 0:d6402bcd58f7 8 * copies of the Software, and to permit persons to whom the Software is
shimogamo 0:d6402bcd58f7 9 * furnished to do so, subject to the following conditions:
shimogamo 0:d6402bcd58f7 10 *
shimogamo 0:d6402bcd58f7 11 * The above copyright notice and this permission notice shall be included in
shimogamo 0:d6402bcd58f7 12 * all copies or substantial portions of the Software.
shimogamo 0:d6402bcd58f7 13 *
shimogamo 0:d6402bcd58f7 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
shimogamo 0:d6402bcd58f7 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
shimogamo 0:d6402bcd58f7 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
shimogamo 0:d6402bcd58f7 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
shimogamo 0:d6402bcd58f7 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
shimogamo 0:d6402bcd58f7 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
shimogamo 0:d6402bcd58f7 20 * THE SOFTWARE.
shimogamo 0:d6402bcd58f7 21 */
shimogamo 0:d6402bcd58f7 22
shimogamo 0:d6402bcd58f7 23 #ifndef MBED_SERVO_H
shimogamo 0:d6402bcd58f7 24 #define MBED_SERVO_H
shimogamo 0:d6402bcd58f7 25
shimogamo 0:d6402bcd58f7 26 #include "mbed.h"
shimogamo 0:d6402bcd58f7 27
shimogamo 0:d6402bcd58f7 28 /** Servo control class, based on a PwmOut
shimogamo 0:d6402bcd58f7 29 *
shimogamo 0:d6402bcd58f7 30 * Example:
shimogamo 0:d6402bcd58f7 31 * @code
shimogamo 0:d6402bcd58f7 32 * // Continuously sweep the servo through it's full range
shimogamo 0:d6402bcd58f7 33 * #include "mbed.h"
shimogamo 0:d6402bcd58f7 34 * #include "Servo.h"
shimogamo 0:d6402bcd58f7 35 *
shimogamo 0:d6402bcd58f7 36 * Servo myservo(p21);
shimogamo 0:d6402bcd58f7 37 *
shimogamo 0:d6402bcd58f7 38 * int main() {
shimogamo 0:d6402bcd58f7 39 * while(1) {
shimogamo 0:d6402bcd58f7 40 * for(int i=0; i<100; i++) {
shimogamo 0:d6402bcd58f7 41 * myservo = i/100.0;
shimogamo 0:d6402bcd58f7 42 * wait(0.01);
shimogamo 0:d6402bcd58f7 43 * }
shimogamo 0:d6402bcd58f7 44 * for(int i=100; i>0; i--) {
shimogamo 0:d6402bcd58f7 45 * myservo = i/100.0;
shimogamo 0:d6402bcd58f7 46 * wait(0.01);
shimogamo 0:d6402bcd58f7 47 * }
shimogamo 0:d6402bcd58f7 48 * }
shimogamo 0:d6402bcd58f7 49 * }
shimogamo 0:d6402bcd58f7 50 * @endcode
shimogamo 0:d6402bcd58f7 51 */
shimogamo 0:d6402bcd58f7 52 class Servo {
shimogamo 0:d6402bcd58f7 53
shimogamo 0:d6402bcd58f7 54 public:
shimogamo 0:d6402bcd58f7 55 /** Create a servo object connected to the specified PwmOut pin
shimogamo 0:d6402bcd58f7 56 *
shimogamo 0:d6402bcd58f7 57 * @param pin PwmOut pin to connect to
shimogamo 0:d6402bcd58f7 58 */
shimogamo 0:d6402bcd58f7 59 Servo(PinName pin);
shimogamo 0:d6402bcd58f7 60
shimogamo 0:d6402bcd58f7 61 /** Set the servo position, normalised to it's full range
shimogamo 0:d6402bcd58f7 62 *
shimogamo 0:d6402bcd58f7 63 * @param percent A normalised number 0.0-1.0 to represent the full range.
shimogamo 0:d6402bcd58f7 64 */
shimogamo 0:d6402bcd58f7 65 void write(float percent);
shimogamo 0:d6402bcd58f7 66
shimogamo 0:d6402bcd58f7 67 /** Read the servo motors current position
shimogamo 0:d6402bcd58f7 68 *
shimogamo 0:d6402bcd58f7 69 * @param returns A normalised number 0.0-1.0 representing the full range.
shimogamo 0:d6402bcd58f7 70 */
shimogamo 0:d6402bcd58f7 71 float read();
shimogamo 0:d6402bcd58f7 72
shimogamo 0:d6402bcd58f7 73 /** Set the servo position
shimogamo 0:d6402bcd58f7 74 *
shimogamo 0:d6402bcd58f7 75 * @param degrees Servo position in degrees
shimogamo 0:d6402bcd58f7 76 */
shimogamo 0:d6402bcd58f7 77 void position(float degrees);
shimogamo 0:d6402bcd58f7 78
shimogamo 0:d6402bcd58f7 79 /** Allows calibration of the range and angles for a particular servo
shimogamo 0:d6402bcd58f7 80 *
shimogamo 0:d6402bcd58f7 81 * @param range Pulsewidth range from center (1.5ms) to maximum/minimum position in seconds
shimogamo 0:d6402bcd58f7 82 * @param degrees Angle from centre to maximum/minimum position in degrees
shimogamo 0:d6402bcd58f7 83 */
shimogamo 0:d6402bcd58f7 84 //NX8921(JR PROPO)の180度モードに合わせたパラメータ（デフォルトは120度モード）。他のサーボに変えた時、変更する必要あり。
shimogamo 0:d6402bcd58f7 85 void calibrate(float range_us = 600.0, float degrees = 90.0, float center_us = 1500.0, int period_ms_ = 5);
shimogamo 0:d6402bcd58f7 86
shimogamo 0:d6402bcd58f7 87
shimogamo 0:d6402bcd58f7 88 void rawwrite(int width_us);
shimogamo 0:d6402bcd58f7 89
shimogamo 0:d6402bcd58f7 90 float readangle();
shimogamo 0:d6402bcd58f7 91
shimogamo 0:d6402bcd58f7 92
shimogamo 0:d6402bcd58f7 93 /** Shorthand for the write and read functions */
shimogamo 0:d6402bcd58f7 94 Servo& operator= (float percent);
shimogamo 0:d6402bcd58f7 95 Servo& operator= (Servo& rhs);
shimogamo 0:d6402bcd58f7 96 operator float();
shimogamo 0:d6402bcd58f7 97
shimogamo 0:d6402bcd58f7 98 protected:
shimogamo 0:d6402bcd58f7 99 PwmOut _pwm;
shimogamo 0:d6402bcd58f7 100 float _range;
shimogamo 0:d6402bcd58f7 101 float _degrees;
shimogamo 0:d6402bcd58f7 102 float _p;
shimogamo 0:d6402bcd58f7 103 float _angle;
shimogamo 0:d6402bcd58f7 104 float _center;
shimogamo 0:d6402bcd58f7 105 int _period_ms;
shimogamo 0:d6402bcd58f7 106 float p2angle(float p);
shimogamo 0:d6402bcd58f7 107 };
shimogamo 0:d6402bcd58f7 108
shimogamo 0:d6402bcd58f7 109 #endif