Mario Tkalac / UniServ_linijapogona

A Servo control library that works on any output pin, not just the PWM pins

Dependents:   Lilnija_29012017

Fork of UniServ by Matt Parsons

UniServ.cpp@1:74fdb2c8ae56, 2017-11-22 (annotated)

Committer:
mario_meh
Date:
Wed Nov 22 08:51:08 2017 +0000
Revision:
1:74fdb2c8ae56
Parent:
0:dde1a0011645 
reserved

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bloodline 0:dde1a0011645 1 /* UniServ Servo Library
mario_meh 1:74fdb2c8ae56 2 * Copyright (c) 2010 Matt Parsons
mario_meh 1:74fdb2c8ae56 3 *
mario_meh 1:74fdb2c8ae56 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
mario_meh 1:74fdb2c8ae56 5 * of this software and associated documentation files (the "Software"), to deal
mario_meh 1:74fdb2c8ae56 6 * in the Software without restriction, including without limitation the rights
mario_meh 1:74fdb2c8ae56 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
mario_meh 1:74fdb2c8ae56 8 * copies of the Software, and to permit persons to whom the Software is
mario_meh 1:74fdb2c8ae56 9 * furnished to do so, subject to the following conditions:
mario_meh 1:74fdb2c8ae56 10 *
mario_meh 1:74fdb2c8ae56 11 * The above copyright notice and this permission notice shall be included in
mario_meh 1:74fdb2c8ae56 12 * all copies or substantial portions of the Software.
mario_meh 1:74fdb2c8ae56 13 *
mario_meh 1:74fdb2c8ae56 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
mario_meh 1:74fdb2c8ae56 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
mario_meh 1:74fdb2c8ae56 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
mario_meh 1:74fdb2c8ae56 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
mario_meh 1:74fdb2c8ae56 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
mario_meh 1:74fdb2c8ae56 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
mario_meh 1:74fdb2c8ae56 20 * THE SOFTWARE.
mario_meh 1:74fdb2c8ae56 21 */
bloodline 0:dde1a0011645 22
bloodline 0:dde1a0011645 23
mario_meh 1:74fdb2c8ae56 24 /** Default metoda za servo motor C90
mario_meh 1:74fdb2c8ae56 25 * @code
mario_meh 1:74fdb2c8ae56 26 * #include "mbed.h"
mario_meh 1:74fdb2c8ae56 27 * #include "UniServ.h"
mario_meh 1:74fdb2c8ae56 28 *
mario_meh 1:74fdb2c8ae56 29 * t.start();
mario_meh 1:74fdb2c8ae56 30 * sMotor.write_us(2000);
mario_meh 1:74fdb2c8ae56 31 * t.stop();
mario_meh 1:74fdb2c8ae56 32 * pc.printf("%f\n\r", t.read());
mario_meh 1:74fdb2c8ae56 33 * wait_ms(1000);
mario_meh 1:74fdb2c8ae56 34 * t.reset();
mario_meh 1:74fdb2c8ae56 35 * t.start();
mario_meh 1:74fdb2c8ae56 36 * sMotor.write_us(0);
mario_meh 1:74fdb2c8ae56 37 * t.stop();
mario_meh 1:74fdb2c8ae56 38 * pc.printf("%f\n\r", t.read());
mario_meh 1:74fdb2c8ae56 39 * wait_ms(1000);
mario_meh 1:74fdb2c8ae56 40 * t.reset();
mario_meh 1:74fdb2c8ae56 41 * t.start();
mario_meh 1:74fdb2c8ae56 42 * sMotor.write_us(3000);
mario_meh 1:74fdb2c8ae56 43 * t.stop();
mario_meh 1:74fdb2c8ae56 44 * pc.printf("%f\n\r", t.read());
mario_meh 1:74fdb2c8ae56 45 * wait_ms(1000);
mario_meh 1:74fdb2c8ae56 46 * t.reset();
mario_meh 1:74fdb2c8ae56 47 * t.start();
mario_meh 1:74fdb2c8ae56 48 * sMotor.write_us(1000);
mario_meh 1:74fdb2c8ae56 49 * t.stop();
mario_meh 1:74fdb2c8ae56 50 * pc.printf("%f\n\r", t.read());
mario_meh 1:74fdb2c8ae56 51 * wait_ms(1000);
mario_meh 1:74fdb2c8ae56 52 * sMotor.Disable();
mario_meh 1:74fdb2c8ae56 53 *
mario_meh 1:74fdb2c8ae56 54 * Dodao metodu Disable() zbog toga da se oslobodi
mario_meh 1:74fdb2c8ae56 55 * cpu dok se ne izvrši slijedeća operacija
mario_meh 1:74fdb2c8ae56 56 * @endcode
mario_meh 1:74fdb2c8ae56 57 */
bloodline 0:dde1a0011645 58
mario_meh 1:74fdb2c8ae56 59 #include "mbed.h"
mario_meh 1:74fdb2c8ae56 60 #include "UniServ.h"
mario_meh 1:74fdb2c8ae56 61
mario_meh 1:74fdb2c8ae56 62 UniServ::UniServ(PinName pin) : ServPin(pin){
mario_meh 1:74fdb2c8ae56 63 Period=20000;
mario_meh 1:74fdb2c8ae56 64 Position=1500;
mario_meh 1:74fdb2c8ae56 65 ServMin=400;
mario_meh 1:74fdb2c8ae56 66 ServMax=2600;
mario_meh 1:74fdb2c8ae56 67
mario_meh 1:74fdb2c8ae56 68 Pulse.attach_us(this,&UniServ::SigStart,Period);
mario_meh 1:74fdb2c8ae56 69 }
mario_meh 1:74fdb2c8ae56 70
mario_meh 1:74fdb2c8ae56 71 void UniServ::SigStart(){
mario_meh 1:74fdb2c8ae56 72 ServPin=1;
mario_meh 1:74fdb2c8ae56 73 PulseEnd.attach_us(this,&UniServ::SigStop,Position);
mario_meh 1:74fdb2c8ae56 74 }
mario_meh 1:74fdb2c8ae56 75
mario_meh 1:74fdb2c8ae56 76 void UniServ::SigStop(){
mario_meh 1:74fdb2c8ae56 77 ServPin=0;
mario_meh 1:74fdb2c8ae56 78 }
mario_meh 1:74fdb2c8ae56 79
mario_meh 1:74fdb2c8ae56 80 void UniServ::write_us(int PosIn){
mario_meh 1:74fdb2c8ae56 81 Position=PosIn;
mario_meh 1:74fdb2c8ae56 82 if(PosIn<ServMin){Position=ServMin;}
mario_meh 1:74fdb2c8ae56 83 if(PosIn>ServMax){Position=ServMax;}
mario_meh 1:74fdb2c8ae56 84 }
bloodline 0:dde1a0011645 85
mario_meh 1:74fdb2c8ae56 86 int UniServ::read_us(){
mario_meh 1:74fdb2c8ae56 87 return Position;
mario_meh 1:74fdb2c8ae56 88 }
mario_meh 1:74fdb2c8ae56 89 void UniServ::Disable() {
mario_meh 1:74fdb2c8ae56 90 Pulse.detach();
mario_meh 1:74fdb2c8ae56 91 }
mario_meh 1:74fdb2c8ae56 92
mario_meh 1:74fdb2c8ae56 93
bloodline 0:dde1a0011645 94