Diff: Servo.h

Revision:

4:1e75dcbded83

Parent:

3:36b69a7ced07

--- a/Servo.h	Thu Sep 02 17:34:43 2010 +0000
+++ b/Servo.h	Thu Sep 20 23:49:47 2012 +0000
@@ -1,98 +1,104 @@
-/* mbed R/C Servo Library
- * Copyright (c) 2007-2010 sford, cstyles
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-  
-#ifndef MBED_SERVO_H
-#define MBED_SERVO_H
-
-#include "mbed.h"
-
-/** Servo control class, based on a PwmOut
- *
- * Example:
- * @code
- * // Continuously sweep the servo through it's full range
- * #include "mbed.h"
- * #include "Servo.h"
- * 
- * Servo myservo(p21);
- * 
- * int main() {
- *     while(1) {
- *         for(int i=0; i<100; i++) {
- *             myservo = i/100.0;
- *             wait(0.01);
- *         }
- *         for(int i=100; i>0; i--) {
- *             myservo = i/100.0;
- *             wait(0.01);
- *         }
- *     }
- * }
- * @endcode
- */
-class Servo {
-
-public:
-    /** Create a servo object connected to the specified PwmOut pin
-     *
-     * @param pin PwmOut pin to connect to 
-     */
-    Servo(PinName pin);
-    
-    /** Set the servo position, normalised to it's full range
-     *
-     * @param percent A normalised number 0.0-1.0 to represent the full range.
-     */
-    void write(float percent);
-    
-    /**  Read the servo motors current position
-     *
-     * @param returns A normalised number 0.0-1.0  representing the full range.
-     */
-    float read();
-    
-    /** Set the servo position
-     *
-     * @param degrees Servo position in degrees
-     */
-    void position(float degrees);
-    
-    /**  Allows calibration of the range and angles for a particular servo
-     *
-     * @param range Pulsewidth range from center (1.5ms) to maximum/minimum position in seconds
-     * @param degrees Angle from centre to maximum/minimum position in degrees
-     */
-    void calibrate(float range = 0.0005, float degrees = 45.0); 
-        
-    /**  Shorthand for the write and read functions */
-    Servo& operator= (float percent);
-    Servo& operator= (Servo& rhs);
-    operator float();
-
-protected:
-    PwmOut _pwm;
-    float _range;
-    float _degrees;
-    float _p;
-};
-
-#endif
+/* mbed R/C Servo Library
+ * Copyright (c) 2007-2010 sford, cstyles
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+  
+#ifndef MBED_SERVO_H
+#define MBED_SERVO_H
+
+#include "mbed.h"
+
+/** Servo control class, based on a PwmOut
+ *
+ * Example:
+ * @code
+ * // Continuously sweep the servo through it's full range
+ * #include "mbed.h"
+ * #include "Servo.h"
+ * 
+ * Servo myservo(p21);
+ * 
+ * int main() {
+ *     while(1) {
+ *         for(int i=0; i<100; i++) {
+ *             myservo = i/100.0;
+ *             wait(0.01);
+ *         }
+ *         for(int i=100; i>0; i--) {
+ *             myservo = i/100.0;
+ *             wait(0.01);
+ *         }
+ *     }
+ * }
+ * @endcode
+ */
+class Servo {
+
+public:
+    /** Create a servo object connected to the specified PwmOut pin
+     *
+     * @param pin PwmOut pin to connect to 
+     */
+    Servo(PinName pin);
+    
+    /** Set the servo position, normalised to it's full range
+     *
+     * @param percent A normalised number 0.0-1.0 to represent the full range.
+     */
+    void write(float percent);
+    
+    /**  Read the servo motors current position
+     *
+     * @param returns A normalised number 0.0-1.0  representing the full range.
+     */
+    float read();
+    
+    /** Set the servo position
+     *
+     * @param degrees Servo position in degrees
+     */
+    void position(float degrees);
+    
+    /**  Allows calibration of the range and angles for a particular servo
+     *
+     * @param range Pulsewidth range from center (1.5ms) to maximum/minimum position in seconds
+     * @param degrees Angle from centre to maximum/minimum position in degrees
+     */
+    void calibrate(float range = 0.0005, float degrees = 45.0); 
+    
+    void calibrate_max(float max = 0.0005, float degrees = 45.0); 
+    
+    void calibrate_min(float min = -0.0005, float degrees = 45.0); 
+        
+    /**  Shorthand for the write and read functions */
+    Servo& operator= (float percent);
+    Servo& operator= (Servo& rhs);
+    operator float();
+
+protected:
+    PwmOut _pwm;
+    float _range_max;
+    float _range_min;
+    float _range;
+    float _degrees;
+    float _p;
+};
+
+#endif