Zhan Tu / Mbed 2 deprecated fish_control

fish

Dependencies:   mbed

Servo/Servo.h@0:561f7672eaad, 2017-06-14 (annotated)

Committer:
tzxl10000
Date:
Wed Jun 14 20:22:45 2017 +0000
Revision:
0:561f7672eaad
fish;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tzxl10000 0:561f7672eaad 1 /* mbed R/C Servo Library
tzxl10000 0:561f7672eaad 2 * Copyright (c) 2007-2010 sford, cstyles
tzxl10000 0:561f7672eaad 3 *
tzxl10000 0:561f7672eaad 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
tzxl10000 0:561f7672eaad 5 * of this software and associated documentation files (the "Software"), to deal
tzxl10000 0:561f7672eaad 6 * in the Software without restriction, including without limitation the rights
tzxl10000 0:561f7672eaad 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
tzxl10000 0:561f7672eaad 8 * copies of the Software, and to permit persons to whom the Software is
tzxl10000 0:561f7672eaad 9 * furnished to do so, subject to the following conditions:
tzxl10000 0:561f7672eaad 10 *
tzxl10000 0:561f7672eaad 11 * The above copyright notice and this permission notice shall be included in
tzxl10000 0:561f7672eaad 12 * all copies or substantial portions of the Software.
tzxl10000 0:561f7672eaad 13 *
tzxl10000 0:561f7672eaad 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
tzxl10000 0:561f7672eaad 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
tzxl10000 0:561f7672eaad 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
tzxl10000 0:561f7672eaad 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
tzxl10000 0:561f7672eaad 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
tzxl10000 0:561f7672eaad 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
tzxl10000 0:561f7672eaad 20 * THE SOFTWARE.
tzxl10000 0:561f7672eaad 21 */
tzxl10000 0:561f7672eaad 22
tzxl10000 0:561f7672eaad 23 #ifndef MBED_SERVO_H
tzxl10000 0:561f7672eaad 24 #define MBED_SERVO_H
tzxl10000 0:561f7672eaad 25
tzxl10000 0:561f7672eaad 26 #include "mbed.h"
tzxl10000 0:561f7672eaad 27
tzxl10000 0:561f7672eaad 28 /** Servo control class, based on a PwmOut
tzxl10000 0:561f7672eaad 29 *
tzxl10000 0:561f7672eaad 30 * Example:
tzxl10000 0:561f7672eaad 31 * @code
tzxl10000 0:561f7672eaad 32 * // Continuously sweep the servo through it's full range
tzxl10000 0:561f7672eaad 33 * #include "mbed.h"
tzxl10000 0:561f7672eaad 34 * #include "Servo.h"
tzxl10000 0:561f7672eaad 35 *
tzxl10000 0:561f7672eaad 36 * Servo myservo(p21);
tzxl10000 0:561f7672eaad 37 *
tzxl10000 0:561f7672eaad 38 * int main() {
tzxl10000 0:561f7672eaad 39 * while(1) {
tzxl10000 0:561f7672eaad 40 * for(int i=0; i<100; i++) {
tzxl10000 0:561f7672eaad 41 * myservo = i/100.0;
tzxl10000 0:561f7672eaad 42 * wait(0.01);
tzxl10000 0:561f7672eaad 43 * }
tzxl10000 0:561f7672eaad 44 * for(int i=100; i>0; i--) {
tzxl10000 0:561f7672eaad 45 * myservo = i/100.0;
tzxl10000 0:561f7672eaad 46 * wait(0.01);
tzxl10000 0:561f7672eaad 47 * }
tzxl10000 0:561f7672eaad 48 * }
tzxl10000 0:561f7672eaad 49 * }
tzxl10000 0:561f7672eaad 50 * @endcode
tzxl10000 0:561f7672eaad 51 */
tzxl10000 0:561f7672eaad 52 class Servo {
tzxl10000 0:561f7672eaad 53
tzxl10000 0:561f7672eaad 54 public:
tzxl10000 0:561f7672eaad 55 /** Create a servo object connected to the specified PwmOut pin
tzxl10000 0:561f7672eaad 56 *
tzxl10000 0:561f7672eaad 57 * @param pin PwmOut pin to connect to
tzxl10000 0:561f7672eaad 58 */
tzxl10000 0:561f7672eaad 59 Servo(PinName pin);
tzxl10000 0:561f7672eaad 60
tzxl10000 0:561f7672eaad 61 /** Set the servo position, normalised to it's full range
tzxl10000 0:561f7672eaad 62 *
tzxl10000 0:561f7672eaad 63 * @param percent A normalised number 0.0-1.0 to represent the full range.
tzxl10000 0:561f7672eaad 64 */
tzxl10000 0:561f7672eaad 65 void write(float percent);
tzxl10000 0:561f7672eaad 66
tzxl10000 0:561f7672eaad 67 /** Read the servo motors current position
tzxl10000 0:561f7672eaad 68 *
tzxl10000 0:561f7672eaad 69 * @param returns A normalised number 0.0-1.0 representing the full range.
tzxl10000 0:561f7672eaad 70 */
tzxl10000 0:561f7672eaad 71 float read();
tzxl10000 0:561f7672eaad 72
tzxl10000 0:561f7672eaad 73 /** Set the servo position
tzxl10000 0:561f7672eaad 74 *
tzxl10000 0:561f7672eaad 75 * @param degrees Servo position in degrees
tzxl10000 0:561f7672eaad 76 */
tzxl10000 0:561f7672eaad 77 void position(float degrees);
tzxl10000 0:561f7672eaad 78
tzxl10000 0:561f7672eaad 79 /** Allows calibration of the range and angles for a particular servo
tzxl10000 0:561f7672eaad 80 *
tzxl10000 0:561f7672eaad 81 * @param range Pulsewidth range from center (1.5ms) to maximum/minimum position in seconds
tzxl10000 0:561f7672eaad 82 * @param degrees Angle from centre to maximum/minimum position in degrees
tzxl10000 0:561f7672eaad 83 */
tzxl10000 0:561f7672eaad 84 void calibrate(float range = 0.0005, float degrees = 45.0);
tzxl10000 0:561f7672eaad 85
tzxl10000 0:561f7672eaad 86 /** Shorthand for the write and read functions */
tzxl10000 0:561f7672eaad 87 Servo& operator= (float percent);
tzxl10000 0:561f7672eaad 88 Servo& operator= (Servo& rhs);
tzxl10000 0:561f7672eaad 89 operator float();
tzxl10000 0:561f7672eaad 90
tzxl10000 0:561f7672eaad 91 protected:
tzxl10000 0:561f7672eaad 92 PwmOut _pwm;
tzxl10000 0:561f7672eaad 93 float _range;
tzxl10000 0:561f7672eaad 94 float _degrees;
tzxl10000 0:561f7672eaad 95 float _p;
tzxl10000 0:561f7672eaad 96 };
tzxl10000 0:561f7672eaad 97
tzxl10000 0:561f7672eaad 98 #endif