Tyler Weaver / Servo

Added max and min calibration

Dependents:   HARP_simple HARP HARP_localFileSystemTest Servo_Calibration_Test ... more

Fork of Servo by Simon Ford

Servo.h@4:1e75dcbded83, 2012-09-20 (annotated)

Committer:
tylerjw
Date:
Thu Sep 20 23:49:47 2012 +0000
Revision:
4:1e75dcbded83
Parent:
3:36b69a7ced07 
0.1

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Who changed what in which revision?

UserRevisionLine numberNew contents of line
tylerjw 4:1e75dcbded83 1 /* mbed R/C Servo Library
tylerjw 4:1e75dcbded83 2 * Copyright (c) 2007-2010 sford, cstyles
tylerjw 4:1e75dcbded83 3 *
tylerjw 4:1e75dcbded83 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
tylerjw 4:1e75dcbded83 5 * of this software and associated documentation files (the "Software"), to deal
tylerjw 4:1e75dcbded83 6 * in the Software without restriction, including without limitation the rights
tylerjw 4:1e75dcbded83 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
tylerjw 4:1e75dcbded83 8 * copies of the Software, and to permit persons to whom the Software is
tylerjw 4:1e75dcbded83 9 * furnished to do so, subject to the following conditions:
tylerjw 4:1e75dcbded83 10 *
tylerjw 4:1e75dcbded83 11 * The above copyright notice and this permission notice shall be included in
tylerjw 4:1e75dcbded83 12 * all copies or substantial portions of the Software.
tylerjw 4:1e75dcbded83 13 *
tylerjw 4:1e75dcbded83 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
tylerjw 4:1e75dcbded83 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
tylerjw 4:1e75dcbded83 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
tylerjw 4:1e75dcbded83 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
tylerjw 4:1e75dcbded83 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
tylerjw 4:1e75dcbded83 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
tylerjw 4:1e75dcbded83 20 * THE SOFTWARE.
tylerjw 4:1e75dcbded83 21 */
tylerjw 4:1e75dcbded83 22
tylerjw 4:1e75dcbded83 23 #ifndef MBED_SERVO_H
tylerjw 4:1e75dcbded83 24 #define MBED_SERVO_H
tylerjw 4:1e75dcbded83 25
tylerjw 4:1e75dcbded83 26 #include "mbed.h"
tylerjw 4:1e75dcbded83 27
tylerjw 4:1e75dcbded83 28 /** Servo control class, based on a PwmOut
tylerjw 4:1e75dcbded83 29 *
tylerjw 4:1e75dcbded83 30 * Example:
tylerjw 4:1e75dcbded83 31 * @code
tylerjw 4:1e75dcbded83 32 * // Continuously sweep the servo through it's full range
tylerjw 4:1e75dcbded83 33 * #include "mbed.h"
tylerjw 4:1e75dcbded83 34 * #include "Servo.h"
tylerjw 4:1e75dcbded83 35 *
tylerjw 4:1e75dcbded83 36 * Servo myservo(p21);
tylerjw 4:1e75dcbded83 37 *
tylerjw 4:1e75dcbded83 38 * int main() {
tylerjw 4:1e75dcbded83 39 * while(1) {
tylerjw 4:1e75dcbded83 40 * for(int i=0; i<100; i++) {
tylerjw 4:1e75dcbded83 41 * myservo = i/100.0;
tylerjw 4:1e75dcbded83 42 * wait(0.01);
tylerjw 4:1e75dcbded83 43 * }
tylerjw 4:1e75dcbded83 44 * for(int i=100; i>0; i--) {
tylerjw 4:1e75dcbded83 45 * myservo = i/100.0;
tylerjw 4:1e75dcbded83 46 * wait(0.01);
tylerjw 4:1e75dcbded83 47 * }
tylerjw 4:1e75dcbded83 48 * }
tylerjw 4:1e75dcbded83 49 * }
tylerjw 4:1e75dcbded83 50 * @endcode
tylerjw 4:1e75dcbded83 51 */
tylerjw 4:1e75dcbded83 52 class Servo {
tylerjw 4:1e75dcbded83 53
tylerjw 4:1e75dcbded83 54 public:
tylerjw 4:1e75dcbded83 55 /** Create a servo object connected to the specified PwmOut pin
tylerjw 4:1e75dcbded83 56 *
tylerjw 4:1e75dcbded83 57 * @param pin PwmOut pin to connect to
tylerjw 4:1e75dcbded83 58 */
tylerjw 4:1e75dcbded83 59 Servo(PinName pin);
tylerjw 4:1e75dcbded83 60
tylerjw 4:1e75dcbded83 61 /** Set the servo position, normalised to it's full range
tylerjw 4:1e75dcbded83 62 *
tylerjw 4:1e75dcbded83 63 * @param percent A normalised number 0.0-1.0 to represent the full range.
tylerjw 4:1e75dcbded83 64 */
tylerjw 4:1e75dcbded83 65 void write(float percent);
tylerjw 4:1e75dcbded83 66
tylerjw 4:1e75dcbded83 67 /** Read the servo motors current position
tylerjw 4:1e75dcbded83 68 *
tylerjw 4:1e75dcbded83 69 * @param returns A normalised number 0.0-1.0 representing the full range.
tylerjw 4:1e75dcbded83 70 */
tylerjw 4:1e75dcbded83 71 float read();
tylerjw 4:1e75dcbded83 72
tylerjw 4:1e75dcbded83 73 /** Set the servo position
tylerjw 4:1e75dcbded83 74 *
tylerjw 4:1e75dcbded83 75 * @param degrees Servo position in degrees
tylerjw 4:1e75dcbded83 76 */
tylerjw 4:1e75dcbded83 77 void position(float degrees);
tylerjw 4:1e75dcbded83 78
tylerjw 4:1e75dcbded83 79 /** Allows calibration of the range and angles for a particular servo
tylerjw 4:1e75dcbded83 80 *
tylerjw 4:1e75dcbded83 81 * @param range Pulsewidth range from center (1.5ms) to maximum/minimum position in seconds
tylerjw 4:1e75dcbded83 82 * @param degrees Angle from centre to maximum/minimum position in degrees
tylerjw 4:1e75dcbded83 83 */
tylerjw 4:1e75dcbded83 84 void calibrate(float range = 0.0005, float degrees = 45.0);
tylerjw 4:1e75dcbded83 85
tylerjw 4:1e75dcbded83 86 void calibrate_max(float max = 0.0005, float degrees = 45.0);
tylerjw 4:1e75dcbded83 87
tylerjw 4:1e75dcbded83 88 void calibrate_min(float min = -0.0005, float degrees = 45.0);
tylerjw 4:1e75dcbded83 89
tylerjw 4:1e75dcbded83 90 /** Shorthand for the write and read functions */
tylerjw 4:1e75dcbded83 91 Servo& operator= (float percent);
tylerjw 4:1e75dcbded83 92 Servo& operator= (Servo& rhs);
tylerjw 4:1e75dcbded83 93 operator float();
tylerjw 4:1e75dcbded83 94
tylerjw 4:1e75dcbded83 95 protected:
tylerjw 4:1e75dcbded83 96 PwmOut _pwm;
tylerjw 4:1e75dcbded83 97 float _range_max;
tylerjw 4:1e75dcbded83 98 float _range_min;
tylerjw 4:1e75dcbded83 99 float _range;
tylerjw 4:1e75dcbded83 100 float _degrees;
tylerjw 4:1e75dcbded83 101 float _p;
tylerjw 4:1e75dcbded83 102 };
tylerjw 4:1e75dcbded83 103
tylerjw 4:1e75dcbded83 104 #endif