Made changes to individually control servo speeds
Dependents: VariableSpeedServo
Fork of Servo by
Servo.h@2:466f005a4dd5, 2015-10-11 (annotated)
- Committer:
- sierrasmith71
- Date:
- Sun Oct 11 20:50:48 2015 +0000
- Revision:
- 2:466f005a4dd5
- Parent:
- 1:352133517ccc
- Child:
- 3:774dd54867f2
rev1.0
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jdenkers | 1:352133517ccc | 1 | /* mbed Servo Library without using PWM pins |
jdenkers | 1:352133517ccc | 2 | * Copyright (c) 2010 Jasper Denkers |
jdenkers | 1:352133517ccc | 3 | * |
jdenkers | 1:352133517ccc | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
jdenkers | 1:352133517ccc | 5 | * of this software and associated documentation files (the "Software"), to deal |
jdenkers | 1:352133517ccc | 6 | * in the Software without restriction, including without limitation the rights |
jdenkers | 1:352133517ccc | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
jdenkers | 1:352133517ccc | 8 | * copies of the Software, and to permit persons to whom the Software is |
jdenkers | 1:352133517ccc | 9 | * furnished to do so, subject to the following conditions: |
jdenkers | 1:352133517ccc | 10 | * |
jdenkers | 1:352133517ccc | 11 | * The above copyright notice and this permission notice shall be included in |
jdenkers | 1:352133517ccc | 12 | * all copies or substantial portions of the Software. |
jdenkers | 1:352133517ccc | 13 | * |
jdenkers | 1:352133517ccc | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
jdenkers | 1:352133517ccc | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
jdenkers | 1:352133517ccc | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
jdenkers | 1:352133517ccc | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
jdenkers | 1:352133517ccc | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
jdenkers | 1:352133517ccc | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
jdenkers | 1:352133517ccc | 20 | * THE SOFTWARE. |
jdenkers | 1:352133517ccc | 21 | */ |
jdenkers | 1:352133517ccc | 22 | |
jdenkers | 0:30b972d2dcec | 23 | #ifndef MBED_SERVO_H |
jdenkers | 0:30b972d2dcec | 24 | #define MBED_SERVO_H |
jdenkers | 0:30b972d2dcec | 25 | |
jdenkers | 0:30b972d2dcec | 26 | #include "mbed.h" |
jdenkers | 0:30b972d2dcec | 27 | |
jdenkers | 1:352133517ccc | 28 | /** Class to control a servo on any pin, without using pwm |
jdenkers | 1:352133517ccc | 29 | * |
jdenkers | 1:352133517ccc | 30 | * Example: |
jdenkers | 1:352133517ccc | 31 | * @code |
jdenkers | 1:352133517ccc | 32 | * // Keep sweeping servo from left to right |
jdenkers | 1:352133517ccc | 33 | * #include "mbed.h" |
jdenkers | 1:352133517ccc | 34 | * #include "Servo.h" |
jdenkers | 1:352133517ccc | 35 | * |
jdenkers | 1:352133517ccc | 36 | * Servo Servo1(p20); |
jdenkers | 1:352133517ccc | 37 | * |
jdenkers | 1:352133517ccc | 38 | * Servo1.Enable(1500,20000); |
jdenkers | 1:352133517ccc | 39 | * |
jdenkers | 1:352133517ccc | 40 | * while(1) { |
jdenkers | 1:352133517ccc | 41 | * for (int pos = 1000; pos < 2000; pos += 25) { |
jdenkers | 1:352133517ccc | 42 | * Servo1.SetPosition(pos); |
jdenkers | 1:352133517ccc | 43 | * wait_ms(20); |
jdenkers | 1:352133517ccc | 44 | * } |
jdenkers | 1:352133517ccc | 45 | * for (int pos = 2000; pos > 1000; pos -= 25) { |
jdenkers | 1:352133517ccc | 46 | * Servo1.SetPosition(pos); |
jdenkers | 1:352133517ccc | 47 | * wait_ms(20); |
jdenkers | 1:352133517ccc | 48 | * } |
jdenkers | 1:352133517ccc | 49 | * } |
jdenkers | 1:352133517ccc | 50 | * @endcode |
jdenkers | 1:352133517ccc | 51 | */ |
jdenkers | 1:352133517ccc | 52 | |
jdenkers | 0:30b972d2dcec | 53 | class Servo { |
jdenkers | 1:352133517ccc | 54 | |
jdenkers | 0:30b972d2dcec | 55 | public: |
jdenkers | 1:352133517ccc | 56 | /** Create a new Servo object on any mbed pin |
jdenkers | 1:352133517ccc | 57 | * |
jdenkers | 1:352133517ccc | 58 | * @param Pin Pin on mbed to connect servo to |
jdenkers | 1:352133517ccc | 59 | */ |
jdenkers | 0:30b972d2dcec | 60 | Servo(PinName Pin); |
jdenkers | 1:352133517ccc | 61 | |
jdenkers | 1:352133517ccc | 62 | /** Change the position of the servo. Position in us |
jdenkers | 1:352133517ccc | 63 | * |
jdenkers | 1:352133517ccc | 64 | * @param NewPos The new value of the servos position (us) |
jdenkers | 1:352133517ccc | 65 | */ |
jdenkers | 0:30b972d2dcec | 66 | void SetPosition(int NewPos); |
jdenkers | 1:352133517ccc | 67 | |
sierrasmith71 | 2:466f005a4dd5 | 68 | /** speed oonversion from arbitary range of 1-50 to us to set Speed Ticker rate. |
sierrasmith71 | 2:466f005a4dd5 | 69 | * @param int 1-50 |
sierrasmith71 | 2:466f005a4dd5 | 70 | */ |
sierrasmith71 | 2:466f005a4dd5 | 71 | int SpeedConvert (int _speed); |
sierrasmith71 | 2:466f005a4dd5 | 72 | |
jdenkers | 1:352133517ccc | 73 | /** Enable the servo. Without enabling the servo won't be running. Startposition and period both in us. |
jdenkers | 1:352133517ccc | 74 | * |
jdenkers | 1:352133517ccc | 75 | * @param StartPos The position of the servo to start (us) |
sierrasmith71 | 2:466f005a4dd5 | 76 | * @param RefreshRate.set in Hz The time between every servo pulse. 20000 us = 50 Hz(standard) (us) |
sierrasmith71 | 2:466f005a4dd5 | 77 | Analog servos typically use a 50Hz refresh rate, while digital servos can use up to a 300Hz refresh rate. |
sierrasmith71 | 2:466f005a4dd5 | 78 | * @parm _speed The time between updating the pulse width of the servo pulses --controls speed of servo movement |
jdenkers | 1:352133517ccc | 79 | */ |
sierrasmith71 | 2:466f005a4dd5 | 80 | void Enable(int StartPos, int RefreshRate, int _speed); |
jdenkers | 1:352133517ccc | 81 | |
jdenkers | 1:352133517ccc | 82 | /** Disable the servo. After disabling the servo won't get any signal anymore |
jdenkers | 1:352133517ccc | 83 | * |
jdenkers | 1:352133517ccc | 84 | */ |
sierrasmith71 | 2:466f005a4dd5 | 85 | void Update(); |
sierrasmith71 | 2:466f005a4dd5 | 86 | int speed; |
sierrasmith71 | 2:466f005a4dd5 | 87 | int CurrentPosition; |
jdenkers | 0:30b972d2dcec | 88 | void Disable(); |
jdenkers | 0:30b972d2dcec | 89 | |
jdenkers | 0:30b972d2dcec | 90 | private: |
jdenkers | 0:30b972d2dcec | 91 | void StartPulse(); |
jdenkers | 0:30b972d2dcec | 92 | void EndPulse(); |
jdenkers | 0:30b972d2dcec | 93 | int Position; |
sierrasmith71 | 2:466f005a4dd5 | 94 | int Period; |
sierrasmith71 | 2:466f005a4dd5 | 95 | int NewPosition; |
sierrasmith71 | 2:466f005a4dd5 | 96 | //int speed; |
sierrasmith71 | 2:466f005a4dd5 | 97 | //int CurrentPosition; |
jdenkers | 0:30b972d2dcec | 98 | DigitalOut ServoPin; |
jdenkers | 0:30b972d2dcec | 99 | Ticker Pulse; |
sierrasmith71 | 2:466f005a4dd5 | 100 | Ticker Speed; |
jdenkers | 0:30b972d2dcec | 101 | Timeout PulseStop; |
jdenkers | 0:30b972d2dcec | 102 | }; |
jdenkers | 0:30b972d2dcec | 103 | |
jdenkers | 0:30b972d2dcec | 104 | #endif |