Matt Parsons
A Servo control library that works on any output pin, not just the PWM pins
UniServ.cpp@0:dde1a0011645, 2010-10-13 (annotated)
- Committer:
- bloodline
- Date:
- Wed Oct 13 23:53:29 2010 +0000
- Revision:
- 0:dde1a0011645
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| bloodline | 0:dde1a0011645 | 1 | /* UniServ Servo Library |
| bloodline | 0:dde1a0011645 | 2 | * Copyright (c) 2010 Matt Parsons |
| bloodline | 0:dde1a0011645 | 3 | * |
| bloodline | 0:dde1a0011645 | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
| bloodline | 0:dde1a0011645 | 5 | * of this software and associated documentation files (the "Software"), to deal |
| bloodline | 0:dde1a0011645 | 6 | * in the Software without restriction, including without limitation the rights |
| bloodline | 0:dde1a0011645 | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
| bloodline | 0:dde1a0011645 | 8 | * copies of the Software, and to permit persons to whom the Software is |
| bloodline | 0:dde1a0011645 | 9 | * furnished to do so, subject to the following conditions: |
| bloodline | 0:dde1a0011645 | 10 | * |
| bloodline | 0:dde1a0011645 | 11 | * The above copyright notice and this permission notice shall be included in |
| bloodline | 0:dde1a0011645 | 12 | * all copies or substantial portions of the Software. |
| bloodline | 0:dde1a0011645 | 13 | * |
| bloodline | 0:dde1a0011645 | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| bloodline | 0:dde1a0011645 | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| bloodline | 0:dde1a0011645 | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| bloodline | 0:dde1a0011645 | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| bloodline | 0:dde1a0011645 | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| bloodline | 0:dde1a0011645 | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
| bloodline | 0:dde1a0011645 | 20 | * THE SOFTWARE. |
| bloodline | 0:dde1a0011645 | 21 | */ |
| bloodline | 0:dde1a0011645 | 22 | |
| bloodline | 0:dde1a0011645 | 23 | #include "mbed.h" |
| bloodline | 0:dde1a0011645 | 24 | #include "UniServ.h" |
| bloodline | 0:dde1a0011645 | 25 | |
| bloodline | 0:dde1a0011645 | 26 | UniServ::UniServ(PinName pin) : ServPin(pin){ |
| bloodline | 0:dde1a0011645 | 27 | Period=20000; |
| bloodline | 0:dde1a0011645 | 28 | Position=1500; |
| bloodline | 0:dde1a0011645 | 29 | ServMin=400; |
| bloodline | 0:dde1a0011645 | 30 | ServMax=2600; |
| bloodline | 0:dde1a0011645 | 31 | |
| bloodline | 0:dde1a0011645 | 32 | Pulse.attach_us(this,&UniServ::SigStart,Period); |
| bloodline | 0:dde1a0011645 | 33 | } |
| bloodline | 0:dde1a0011645 | 34 | |
| bloodline | 0:dde1a0011645 | 35 | void UniServ::SigStart(){ |
| bloodline | 0:dde1a0011645 | 36 | ServPin=1; |
| bloodline | 0:dde1a0011645 | 37 | PulseEnd.attach_us(this,&UniServ::SigStop,Position); |
| bloodline | 0:dde1a0011645 | 38 | } |
| bloodline | 0:dde1a0011645 | 39 | |
| bloodline | 0:dde1a0011645 | 40 | void UniServ::SigStop(){ |
| bloodline | 0:dde1a0011645 | 41 | ServPin=0; |
| bloodline | 0:dde1a0011645 | 42 | } |
| bloodline | 0:dde1a0011645 | 43 | |
| bloodline | 0:dde1a0011645 | 44 | void UniServ::write_us(int PosIn){ |
| bloodline | 0:dde1a0011645 | 45 | Position=PosIn; |
| bloodline | 0:dde1a0011645 | 46 | if(PosIn<ServMin){Position=ServMin;} |
| bloodline | 0:dde1a0011645 | 47 | if(PosIn>ServMax){Position=ServMax;} |
| bloodline | 0:dde1a0011645 | 48 | } |
| bloodline | 0:dde1a0011645 | 49 | |
| bloodline | 0:dde1a0011645 | 50 | int UniServ::read_us(){ |
| bloodline | 0:dde1a0011645 | 51 | return Position; |
| bloodline | 0:dde1a0011645 | 52 | } |
| bloodline | 0:dde1a0011645 | 53 | |
| bloodline | 0:dde1a0011645 | 54 | |
| bloodline | 0:dde1a0011645 | 55 |