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Dependencies:   Servo

Fork of Servo by Simon Ford

Committer:
simon
Date:
Mon Nov 16 18:24:16 2009 +0000
Revision:
0:24148c673250
Child:
2:8995c167f399

        

Who changed what in which revision?

UserRevisionLine numberNew contents of line
simon 0:24148c673250 1 /* mbed R/C Servo
simon 0:24148c673250 2 * Copyright (c) 2007-2009 sford, cstyles
simon 0:24148c673250 3 * Released under the MIT License: http://mbed.org/license/mit
simon 0:24148c673250 4 */
simon 0:24148c673250 5
simon 0:24148c673250 6 #ifndef MBED_SERVO_H
simon 0:24148c673250 7 #define MBED_SERVO_H
simon 0:24148c673250 8
simon 0:24148c673250 9 #include "mbed.h"
simon 0:24148c673250 10
simon 0:24148c673250 11 /* Class: Servo
simon 0:24148c673250 12 * Abstraction on top of PwmOut to control the position of a servo motor
simon 0:24148c673250 13 *
simon 0:24148c673250 14 * Example:
simon 0:24148c673250 15 * > // Continuously sweep the servo through it's full range
simon 0:24148c673250 16 * > #include "mbed.h"
simon 0:24148c673250 17 * > #include "Servo.h"
simon 0:24148c673250 18 * >
simon 0:24148c673250 19 * > Servo myservo(p21);
simon 0:24148c673250 20 * >
simon 0:24148c673250 21 * > int main() {
simon 0:24148c673250 22 * > while(1) {
simon 0:24148c673250 23 * > for(int i=0; i<100; i++) {
simon 0:24148c673250 24 * > myservo = i/100.0;
simon 0:24148c673250 25 * > wait(0.01);
simon 0:24148c673250 26 * > }
simon 0:24148c673250 27 * > for(int i=100; i>0; i--) {
simon 0:24148c673250 28 * > myservo = i/100.0;
simon 0:24148c673250 29 * > wait(0.01);
simon 0:24148c673250 30 * > }
simon 0:24148c673250 31 * > }
simon 0:24148c673250 32 * > }
simon 0:24148c673250 33 */
simon 0:24148c673250 34 class Servo {
simon 0:24148c673250 35
simon 0:24148c673250 36 public:
simon 0:24148c673250 37 /* Constructor: Servo
simon 0:24148c673250 38 * Create a servo object connected to the specified PwmOut pin
simon 0:24148c673250 39 *
simon 0:24148c673250 40 * Variables:
simon 0:24148c673250 41 * pin - PwmOut pin to connect to
simon 0:24148c673250 42 */
simon 0:24148c673250 43 Servo(PinName pin);
simon 0:24148c673250 44
simon 0:24148c673250 45 /* Function: write
simon 0:24148c673250 46 * Set the servo position, normalised to it's full range
simon 0:24148c673250 47 *
simon 0:24148c673250 48 * Variables:
simon 0:24148c673250 49 * percent - A normalised number 0.0-1.0 to represent the full range.
simon 0:24148c673250 50 */
simon 0:24148c673250 51 void write(float percent);
simon 0:24148c673250 52
simon 0:24148c673250 53 /* Function: read
simon 0:24148c673250 54 * Read the servo motors current position
simon 0:24148c673250 55 *
simon 0:24148c673250 56 * Variables:
simon 0:24148c673250 57 * returns - A normalised number 0.0-1.0 representing the full range.
simon 0:24148c673250 58 */
simon 0:24148c673250 59 float read();
simon 0:24148c673250 60
simon 0:24148c673250 61 /* Function: position
simon 0:24148c673250 62 * Set the servo position
simon 0:24148c673250 63 *
simon 0:24148c673250 64 * Variables:
simon 0:24148c673250 65 * degrees - Servo position in degrees
simon 0:24148c673250 66 */
simon 0:24148c673250 67 void position(float degrees);
simon 0:24148c673250 68
simon 0:24148c673250 69 /* Function: calibrate
simon 0:24148c673250 70 * Allows calibration of the range and angles for a particular servo
simon 0:24148c673250 71 *
simon 0:24148c673250 72 *
simon 0:24148c673250 73 * Variables:
simon 0:24148c673250 74 * range - Pulsewidth range from center (1.5ms) to maximum/minimum position in seconds
simon 0:24148c673250 75 * degrees - Angle from centre to maximum/minimum position in degrees
simon 0:24148c673250 76 */
simon 0:24148c673250 77 void calibrate(float range = 0.0005, float degrees = 45.0);
simon 0:24148c673250 78
simon 0:24148c673250 79 /* Function: operator=
simon 0:24148c673250 80 * Shorthand for the write and read functions
simon 0:24148c673250 81 */
simon 0:24148c673250 82 Servo& operator= (float percent);
simon 0:24148c673250 83 Servo& operator= (Servo& rhs);
simon 0:24148c673250 84 operator float();
simon 0:24148c673250 85
simon 0:24148c673250 86 protected:
simon 0:24148c673250 87 PwmOut _pwm;
simon 0:24148c673250 88 float _range;
simon 0:24148c673250 89 float _degrees;
simon 0:24148c673250 90 float _p;
simon 0:24148c673250 91 };
simon 0:24148c673250 92
simon 0:24148c673250 93
simon 0:24148c673250 94
simon 0:24148c673250 95 #endif