Diff: inc/SimpleRCservos.h

Revision:

2:d6a018232650

Parent:

0:c680385286e3

--- a/inc/SimpleRCservos.h	Mon May 02 18:42:16 2011 +0000
+++ b/inc/SimpleRCservos.h	Thu May 19 22:46:09 2011 +0000
@@ -1,247 +1,247 @@
-/*
-    Copyright (c) 2011 Andy Kirkham
- 
-    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 AJK_SIMPLERCSERVOS_H
-#define AJK_SIMPLERCSERVOS_H
-
-#include "LPC17xx.h"
-#include "SimpleRCmbed.h"
-
-namespace AjK {
-
-class SimpleRCservos {
-
-public:
-    enum Servo { NoServo0, Servo1, Servo2, Servo3, Servo4, Servo5, Servo6, NumOfServos  };
-    
-protected:
-    PinName _pinName;
-    
-    uint32_t _duty;
-    
-    uint32_t _mid[NumOfServos];
-    
-    double _limitMax[NumOfServos];
-    
-    double _limitMin[NumOfServos];
-    
-    uint32_t _msMin[NumOfServos];
-    
-    uint32_t _msMax[NumOfServos];
-            
-    void init(uint32_t duty);
-       
-    void setRangeMin(Servo ch, uint32_t u) { _msMin[ch] = u * 24; }
-    
-    void setRangeMax(Servo ch, uint32_t u) { _msMax[ch] = (u * 24) - _msMin[ch]; }
-        
-    void setMRx(Servo ch, uint32_t value);
-    
-    double limit(Servo ch, double degrees);
-                
-public:
-
-    /** Constructor
-     */
-    SimpleRCservos() { init(480000UL); setDuty(); }
-
-    /** setDuty
-     * 
-     * Set's the duty, or period, of the PWM pulses.
-     * The default is 20ms and the parameter passed in is the 
-     * number of "clock ticks" that represents the period.
-     * 480000 gives rise to 20ms by default. It's rare that
-     * you would alter this value. Remember, with the PWM
-     * peripheral there is only a single, common,  period for 
-     * all six PWM outputs.
-     *
-     * @param duty The number of "clock ticks" for the duty cycle.
-     */
-    void setDuty(uint32_t duty = 480000);
-    
-    /** enable1
-     * 
-     * Enable PWM channel 1.
-     *
-     * @param PinName p26(P2_0) or LED1(P1_18)
-     */
-    void enable1(PinName pin = p26);
-    
-    /** enable2
-     * 
-     * Enable PWM channel 2.
-     *
-     * @param PinName p25(P2_1) or LED2(P1_20)
-     */
-    void enable2(PinName pin = p25);
-    
-    /** enable3
-     * 
-     * Enable PWM channel 3.
-     *
-     * @param PinName p24(P2_2) or LED3(P1_21)
-     */
-    void enable3(PinName pin = p24);
-    
-    /** enable4
-     * 
-     * Enable PWM channel 4.
-     *
-     * @param PinName p23(P2_3) or LED4(P1_23)
-     */
-    void enable4(PinName pin = p23);
-    
-    /** enable5
-     *
-     * Enable PWM channel 5.
-     *
-     * @param PinName p22(P2_4) or P1_24
-     */
-    void enable5(PinName pin = p22);
-    
-    /** enable6
-     *
-     * Enable PWM channel 6.
-     *
-     * @param PinName p21(P2_5) or P1_26
-     */
-    void enable6(PinName pin = p21);
-    
-    /** enable
-     *
-     * Enable the specified channel. The default pin on port 2 is assumed.
-     *
-     * @param Servo The channel to enable, Servo1 to Servo6
-     */
-    void enable(Servo ch);
-    
-    /** setLimitMin
-     * 
-     * Set the minimum logical limit for the specified channel.
-     *
-     * @param Servo channel
-     * @param double The lower logical limit.
-     */
-    void setLimitMin(Servo ch, double d) { _limitMin[ch] = d; }
-    
-    /** getLimitMin
-     * 
-     * Get the minimum logical limit for the specified channel.
-     *
-     * @param Servo channel
-     * @return double The lower logical limit.
-     */
-    double getlimitMin(Servo ch)   { return _limitMin[ch]; }
-    
-    /** setLimitMax
-     * 
-     * Set the maximum logical limit for the specified channel.
-     *
-     * @param Servo channel
-     * @param double The upper logical limit.
-     */
-    void setLimitMax(Servo ch, double d) { _limitMax[ch] = d; }
-    
-    /** getLimitMax
-     * 
-     * Get the maximum logical limit for the specified channel.
-     *
-     * @param Servo channel
-     * @return double The upper logical limit.
-     */
-    double getLimitMax(Servo ch)   { return _limitMax[ch]; }
-    
-    /** setLimits
-     *
-     * Set the logical upper and lower limits for channel.
-     *
-     * @param Servo channel
-     * @param double The minimum logical limit
-     * @param double The maximum logical limit
-     */
-    void setLimits(Servo ch, double min, double max) { 
-        _limitMin[ch] = min; 
-        _limitMax[ch] = max; 
-    }
-    
-    /** getRangeMin
-     * 
-     * Set the minimum physical limit for the specified channel.
-     *
-     * @param Servo channel
-     * @param double The lower phyiscal limit in microseconds
-     */
-    uint32_t getRangeMin(Servo ch, uint32_t u) { return _msMin[ch] / 24; }
-    
-    /** getRangeMax
-     * 
-     * Set the maximum physical limit for the specified channel.
-     *
-     * @param Servo channel
-     * @param uint32 The upper phyiscal limit in microseconds
-     */
-    uint32_t getRangeMax(Servo ch, uint32_t u) { return (_msMax[ch] / 24) + _msMin[ch]; }
-    
-    /** setRange
-     * 
-     * Set the minimum and maximum physical limits for the specified channel.
-     *
-     * @param Servo channel
-     * @param uint32 The lower phyiscal limit in microseconds
-     * @param uint32 The upper phyiscal limit in microseconds
-     */
-    void setRange(Servo ch, uint32_t min, uint32_t max) { 
-        setRangeMin(ch, min);
-        setRangeMax(ch, max);
-    }
-    
-    /** position
-     *
-     * Set the desired position of the servo.
-     * This value should be between the lower and upper logical limits.
-     *
-     * Under normal circumstances this fuction returns the same position is 
-     * was supplied. However, if the supplied position is outside the logical
-     * system limits we return the value we actually went to. This is almost
-     * always the value of the logical limit that is set for that direction.
-     *
-     * @param Servo channel
-     * @param double the logical position to move to.
-     * @return double The actual calculated position moved to.
-     */
-    double position(Servo ch, double degrees);
-    
-    /** neutral
-     *
-     * Tell the servo to move to it's neutral position (1.5ms pulse width)
-     *
-     * @param Servo channel
-     */
-    void neutral(Servo ch);
-    
-}; // class RCservo ends.
-
-}; // namespace AjK ends.
-
-using namespace AjK;
-
-#endif /* AJK_SIMPLERCSERVOS_H */
+/*
+    Copyright (c) 2011 Andy Kirkham
+ 
+    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 AJK_SIMPLERCSERVOS_H
+#define AJK_SIMPLERCSERVOS_H
+
+#include "LPC17xx.h"
+#include "SimpleRCmbed.h"
+
+namespace AjK {
+
+class SimpleRCservos {
+
+public:
+    enum Servo { NoServo0, Servo1, Servo2, Servo3, Servo4, Servo5, Servo6, NumOfServos  };
+    
+protected:
+    PinName _pinName;
+    
+    uint32_t _duty;
+    
+    uint32_t _mid[NumOfServos];
+    
+    double _limitMax[NumOfServos];
+    
+    double _limitMin[NumOfServos];
+    
+    uint32_t _msMin[NumOfServos];
+    
+    uint32_t _msMax[NumOfServos];
+            
+    void init(uint32_t duty);
+       
+    void setRangeMin(Servo ch, uint32_t u) { _msMin[ch] = u * 24; }
+    
+    void setRangeMax(Servo ch, uint32_t u) { _msMax[ch] = (u * 24) - _msMin[ch]; }
+        
+    void setMRx(Servo ch, uint32_t value);
+    
+    double limit(Servo ch, double degrees);
+                
+public:
+
+    /** Constructor
+     */
+    SimpleRCservos() { init(480000UL); setDuty(); }
+
+    /** setDuty
+     * 
+     * Set's the duty, or period, of the PWM pulses.
+     * The default is 20ms and the parameter passed in is the 
+     * number of "clock ticks" that represents the period.
+     * 480000 gives rise to 20ms by default. It's rare that
+     * you would alter this value. Remember, with the PWM
+     * peripheral there is only a single, common,  period for 
+     * all six PWM outputs.
+     *
+     * @param duty The number of "clock ticks" for the duty cycle.
+     */
+    void setDuty(uint32_t duty = 480000);
+    
+    /** enable1
+     * 
+     * Enable PWM channel 1.
+     *
+     * @param PinName p26(P2_0) or LED1(P1_18)
+     */
+    void enable1(PinName pin = p26);
+    
+    /** enable2
+     * 
+     * Enable PWM channel 2.
+     *
+     * @param PinName p25(P2_1) or LED2(P1_20)
+     */
+    void enable2(PinName pin = p25);
+    
+    /** enable3
+     * 
+     * Enable PWM channel 3.
+     *
+     * @param PinName p24(P2_2) or LED3(P1_21)
+     */
+    void enable3(PinName pin = p24);
+    
+    /** enable4
+     * 
+     * Enable PWM channel 4.
+     *
+     * @param PinName p23(P2_3) or LED4(P1_23)
+     */
+    void enable4(PinName pin = p23);
+    
+    /** enable5
+     *
+     * Enable PWM channel 5.
+     *
+     * @param PinName p22(P2_4) or P1_24
+     */
+    void enable5(PinName pin = p22);
+    
+    /** enable6
+     *
+     * Enable PWM channel 6.
+     *
+     * @param PinName p21(P2_5) or P1_26
+     */
+    void enable6(PinName pin = p21);
+    
+    /** enable
+     *
+     * Enable the specified channel. The default pin on port 2 is assumed.
+     *
+     * @param Servo The channel to enable, Servo1 to Servo6
+     */
+    void enable(Servo ch);
+    
+    /** setLimitMin
+     * 
+     * Set the minimum logical limit for the specified channel.
+     *
+     * @param Servo channel
+     * @param double The lower logical limit.
+     */
+    void setLimitMin(Servo ch, double d) { _limitMin[ch] = d; }
+    
+    /** getLimitMin
+     * 
+     * Get the minimum logical limit for the specified channel.
+     *
+     * @param Servo channel
+     * @return double The lower logical limit.
+     */
+    double getlimitMin(Servo ch)   { return _limitMin[ch]; }
+    
+    /** setLimitMax
+     * 
+     * Set the maximum logical limit for the specified channel.
+     *
+     * @param Servo channel
+     * @param double The upper logical limit.
+     */
+    void setLimitMax(Servo ch, double d) { _limitMax[ch] = d; }
+    
+    /** getLimitMax
+     * 
+     * Get the maximum logical limit for the specified channel.
+     *
+     * @param Servo channel
+     * @return double The upper logical limit.
+     */
+    double getLimitMax(Servo ch)   { return _limitMax[ch]; }
+    
+    /** setLimits
+     *
+     * Set the logical upper and lower limits for channel.
+     *
+     * @param Servo channel
+     * @param double The minimum logical limit
+     * @param double The maximum logical limit
+     */
+    void setLimits(Servo ch, double min, double max) { 
+        _limitMin[ch] = min; 
+        _limitMax[ch] = max; 
+    }
+    
+    /** getRangeMin
+     * 
+     * Set the minimum physical limit for the specified channel.
+     *
+     * @param Servo channel
+     * @param double The lower phyiscal limit in microseconds
+     */
+    uint32_t getRangeMin(Servo ch, uint32_t u) { return _msMin[ch] / 24; }
+    
+    /** getRangeMax
+     * 
+     * Set the maximum physical limit for the specified channel.
+     *
+     * @param Servo channel
+     * @param uint32 The upper phyiscal limit in microseconds
+     */
+    uint32_t getRangeMax(Servo ch, uint32_t u) { return (_msMax[ch] / 24) + _msMin[ch]; }
+    
+    /** setRange
+     * 
+     * Set the minimum and maximum physical limits for the specified channel.
+     *
+     * @param Servo channel
+     * @param uint32 The lower phyiscal limit in microseconds
+     * @param uint32 The upper phyiscal limit in microseconds
+     */
+    void setRange(Servo ch, uint32_t min, uint32_t max) { 
+        setRangeMin(ch, min);
+        setRangeMax(ch, max);
+    }
+    
+    /** position
+     *
+     * Set the desired position of the servo.
+     * This value should be between the lower and upper logical limits.
+     *
+     * Under normal circumstances this fuction returns the same position is 
+     * was supplied. However, if the supplied position is outside the logical
+     * system limits we return the value we actually went to. This is almost
+     * always the value of the logical limit that is set for that direction.
+     *
+     * @param Servo channel
+     * @param double the logical position to move to.
+     * @return double The actual calculated position moved to.
+     */
+    double position(Servo ch, double degrees);
+    
+    /** neutral
+     *
+     * Tell the servo to move to it's neutral position (1.5ms pulse width)
+     *
+     * @param Servo channel
+     */
+    void neutral(Servo ch);
+    
+}; // class RCservo ends.
+
+}; // namespace AjK ends.
+
+using namespace AjK;
+
+#endif /* AJK_SIMPLERCSERVOS_H */