David Garrsion / VarSpeedServo

Made changes to individually control servo speeds

Dependents:   VariableSpeedServo

Fork of Servo by Jasper Denkers

Servo.h@3:774dd54867f2, 2015-10-12 (annotated)

Committer:
sierrasmith71
Date:
Mon Oct 12 14:56:58 2015 +0000
Revision:
3:774dd54867f2
Parent:
2:466f005a4dd5
Child:
4:8bdb46e629b9
cleaned up opmments

Who changed what in which revision?

UserRevisionLine numberNew 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 *
sierrasmith71 3:774dd54867f2 4 * Changes and additions made by David Garrison, October 2015 to add ability to independently control each servo's speed
sierrasmith71 3:774dd54867f2 5 *
jdenkers 1:352133517ccc 6 * Permission is hereby granted, free of charge, to any person obtaining a copy
jdenkers 1:352133517ccc 7 * of this software and associated documentation files (the "Software"), to deal
jdenkers 1:352133517ccc 8 * in the Software without restriction, including without limitation the rights
jdenkers 1:352133517ccc 9 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
jdenkers 1:352133517ccc 10 * copies of the Software, and to permit persons to whom the Software is
jdenkers 1:352133517ccc 11 * furnished to do so, subject to the following conditions:
jdenkers 1:352133517ccc 12 *
jdenkers 1:352133517ccc 13 * The above copyright notice and this permission notice shall be included in
jdenkers 1:352133517ccc 14 * all copies or substantial portions of the Software.
jdenkers 1:352133517ccc 15 *
jdenkers 1:352133517ccc 16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
jdenkers 1:352133517ccc 17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
jdenkers 1:352133517ccc 18 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
jdenkers 1:352133517ccc 19 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
jdenkers 1:352133517ccc 20 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
jdenkers 1:352133517ccc 21 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
jdenkers 1:352133517ccc 22 * THE SOFTWARE.
jdenkers 1:352133517ccc 23 */
jdenkers 1:352133517ccc 24
jdenkers 0:30b972d2dcec 25 #ifndef MBED_SERVO_H
jdenkers 0:30b972d2dcec 26 #define MBED_SERVO_H
jdenkers 0:30b972d2dcec 27
jdenkers 0:30b972d2dcec 28 #include "mbed.h"
jdenkers 0:30b972d2dcec 29
sierrasmith71 3:774dd54867f2 30 /** Class to control servos on any pin, without using pwm
sierrasmith71 3:774dd54867f2 31 * Tested on Nucleo -L152RE @40MHz MCU clock and the
sierrasmith71 3:774dd54867f2 32 * st disco -f746ng RUNNING AT 216mhZ.
jdenkers 1:352133517ccc 33 *
jdenkers 1:352133517ccc 34 * Example:
jdenkers 1:352133517ccc 35 * @code
sierrasmith71 3:774dd54867f2 36 *
sierrasmith71 3:774dd54867f2 37 * // Keep sweeping two servos from left to right
jdenkers 1:352133517ccc 38 * #include "mbed.h"
jdenkers 1:352133517ccc 39 * #include "Servo.h"
jdenkers 1:352133517ccc 40 *
sierrasmith71 3:774dd54867f2 41 *int main()
sierrasmith71 3:774dd54867f2 42 *{
jdenkers 1:352133517ccc 43 *
sierrasmith71 3:774dd54867f2 44 * Servo Servo1(D12); // create new instance of servo with output pin number
sierrasmith71 3:774dd54867f2 45 * Servo Servo2(D10);
sierrasmith71 3:774dd54867f2 46 * Servo1.Enable(1500,50,10); // Start position ; in us (1500 = center), servo refresh rate in Hz (analog servos = 50 Hz), servo movement speed range from 1-50, 1 slowest, about 20 seconds/180 degrees
sierrasmith71 3:774dd54867f2 47 * Servo2.Enable(1500,50,10);
sierrasmith71 3:774dd54867f2 48 * while(1) {
jdenkers 1:352133517ccc 49 *
sierrasmith71 3:774dd54867f2 50 * Servo1.SetPosition(2300);
sierrasmith71 3:774dd54867f2 51 * Servo2.SetPosition(2300);
sierrasmith71 3:774dd54867f2 52 * wait(2.5);
sierrasmith71 3:774dd54867f2 53 *
sierrasmith71 3:774dd54867f2 54 *
sierrasmith71 3:774dd54867f2 55 * Servo1.SetPosition(700);
sierrasmith71 3:774dd54867f2 56 * Servo2.SetPosition(700);
sierrasmith71 3:774dd54867f2 57 * wait(2.5);
sierrasmith71 3:774dd54867f2 58 * }
sierrasmith71 3:774dd54867f2 59 *
sierrasmith71 3:774dd54867f2 60 *}
jdenkers 1:352133517ccc 61 * @endcode
jdenkers 1:352133517ccc 62 */
jdenkers 1:352133517ccc 63
jdenkers 0:30b972d2dcec 64 class Servo {
jdenkers 1:352133517ccc 65
jdenkers 0:30b972d2dcec 66 public:
jdenkers 1:352133517ccc 67 /** Create a new Servo object on any mbed pin
jdenkers 1:352133517ccc 68 *
jdenkers 1:352133517ccc 69 * @param Pin Pin on mbed to connect servo to
jdenkers 1:352133517ccc 70 */
jdenkers 0:30b972d2dcec 71 Servo(PinName Pin);
jdenkers 1:352133517ccc 72
jdenkers 1:352133517ccc 73 /** Change the position of the servo. Position in us
jdenkers 1:352133517ccc 74 *
jdenkers 1:352133517ccc 75 * @param NewPos The new value of the servos position (us)
jdenkers 1:352133517ccc 76 */
jdenkers 0:30b972d2dcec 77 void SetPosition(int NewPos);
jdenkers 1:352133517ccc 78
sierrasmith71 3:774dd54867f2 79 /** speed oonversion from arbitary range of 1-50 to us to set Ticker Speed rate.
sierrasmith71 3:774dd54867f2 80 * used in Enable function
sierrasmith71 2:466f005a4dd5 81 */
sierrasmith71 2:466f005a4dd5 82 int SpeedConvert (int _speed);
sierrasmith71 2:466f005a4dd5 83
jdenkers 1:352133517ccc 84 /** Enable the servo. Without enabling the servo won't be running. Startposition and period both in us.
jdenkers 1:352133517ccc 85 *
jdenkers 1:352133517ccc 86 * @param StartPos The position of the servo to start (us)
sierrasmith71 2:466f005a4dd5 87 * @param RefreshRate.set in Hz The time between every servo pulse. 20000 us = 50 Hz(standard) (us)
sierrasmith71 2:466f005a4dd5 88 Analog servos typically use a 50Hz refresh rate, while digital servos can use up to a 300Hz refresh rate.
sierrasmith71 2:466f005a4dd5 89 * @parm _speed The time between updating the pulse width of the servo pulses --controls speed of servo movement
jdenkers 1:352133517ccc 90 */
sierrasmith71 2:466f005a4dd5 91 void Enable(int StartPos, int RefreshRate, int _speed);
jdenkers 1:352133517ccc 92
jdenkers 1:352133517ccc 93 /** Disable the servo. After disabling the servo won't get any signal anymore
jdenkers 1:352133517ccc 94 *
sierrasmith71 3:774dd54867f2 95 */
sierrasmith71 3:774dd54867f2 96 void Disable();
sierrasmith71 3:774dd54867f2 97
sierrasmith71 3:774dd54867f2 98 /** determines direction of servo's move, called by Ticker Speed
jdenkers 1:352133517ccc 99 */
sierrasmith71 2:466f005a4dd5 100 void Update();
sierrasmith71 3:774dd54867f2 101
sierrasmith71 2:466f005a4dd5 102 int speed;
sierrasmith71 2:466f005a4dd5 103 int CurrentPosition;
sierrasmith71 3:774dd54867f2 104
jdenkers 0:30b972d2dcec 105
jdenkers 0:30b972d2dcec 106 private:
jdenkers 0:30b972d2dcec 107 void StartPulse();
jdenkers 0:30b972d2dcec 108 void EndPulse();
jdenkers 0:30b972d2dcec 109 int Position;
sierrasmith71 2:466f005a4dd5 110 int Period;
sierrasmith71 2:466f005a4dd5 111 int NewPosition;
jdenkers 0:30b972d2dcec 112 DigitalOut ServoPin;
jdenkers 0:30b972d2dcec 113 Ticker Pulse;
sierrasmith71 2:466f005a4dd5 114 Ticker Speed;
jdenkers 0:30b972d2dcec 115 Timeout PulseStop;
jdenkers 0:30b972d2dcec 116 };
jdenkers 0:30b972d2dcec 117
jdenkers 0:30b972d2dcec 118 #endif