Thomas Hamilton
Servo file under construction.
Revision 0:c4caca30f35a, committed 2010-08-31
- Comitter:
- Blaze513
- Date:
- Tue Aug 31 04:37:07 2010 +0000
- Commit message:
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.cpp Tue Aug 31 04:37:07 2010 +0000
@@ -0,0 +1,181 @@
+#include "Servo.h"
+
+Servo::Servo(PinName sgnl) : SignalLine(sgnl), Period(0.02),
+ UpperRange(0.045), Center(0.075), LowerRange(-0.045), Position(0)
+{
+ SignalLine.period(0.02);
+ //set period to most common value;
+ SignalLine.write(0.075);
+ //set position to most common center
+}
+
+void Servo::position(float ratio)
+{
+ Position = ratio;
+ if (ratio > 1)
+ {
+ ratio = 1;
+ }
+ else if (ratio < -1)
+ {
+ ratio = -1;
+ }
+ //saturate position to the range boundaries
+ if (ratio >= 0)
+ {
+ SignalLine.write((ratio * UpperRange) + Center);
+ }
+ else
+ {
+ SignalLine.write((ratio * LowerRange) + Center);
+ }
+ //set normalized position (-1 to 1)
+}
+
+float Servo::position()
+{
+ float ratio = SignalLine.read() - Center;
+ if (ratio > UpperRange)
+ {
+ ratio = UpperRange;
+ }
+ else if (ratio < LowerRange)
+ {
+ ratio = LowerRange;
+ }
+ //saturate position to the range boundaries
+ if(ratio >= 0)
+ {
+ return ratio / UpperRange;
+ }
+ else
+ {
+ return ratio / LowerRange;
+ }
+ //return normalized position
+}
+
+void Servo::maximum(float seconds)
+{
+ UpperRange = (seconds / Period) - Center;
+ position(Position);
+}
+
+void Servo::maximum_ms(int milliseconds)
+{
+ UpperRange = ((milliseconds / 1000) / Period) - Center;
+ position(Position);
+}
+
+void Servo::maximum_us(int microseconds)
+{
+ UpperRange = ((microseconds / 1000000) / Period) - Center;
+ position(Position);
+}
+
+void Servo::center(float seconds)
+{
+ Center = seconds / Period;
+ position(Position);
+}
+
+void Servo::center_ms(int milliseconds)
+{
+ Center = (milliseconds / 1000) / Period;
+ position(Position);
+}
+
+void Servo::center_us(int microseconds)
+{
+ Center = (microseconds / 1000000) / Period;
+ position(Position);
+}
+
+void Servo::minimum(float seconds)
+{
+ LowerRange = (seconds / Period) - Center;
+ position(Position);
+}
+
+void Servo::minimum_ms(int milliseconds)
+{
+ LowerRange = ((milliseconds / 1000) / Period) - Center;
+ position(Position);
+}
+
+void Servo::minimum_us(int microseconds)
+{
+ LowerRange = ((microseconds / 1000000) / Period) - Center;
+ position(Position);
+}
+
+void Servo::period(float seconds)
+{
+ Period = seconds;
+ SignalLine.period(seconds);
+}
+
+void Servo::period_ms(int milliseconds)
+{
+ Period = milliseconds / 1000;
+ SignalLine.period_ms(milliseconds);
+}
+
+void Servo::period_us(int microseconds)
+{
+ Period = microseconds / 1000000;
+ SignalLine.period_us(microseconds);
+}
+
+void Servo::pulsewidth(float seconds)
+{
+ Position = (seconds / Period) - Center;
+ if (Position >=0)
+ {
+ Position /= UpperRange;
+ }
+ else
+ {
+ Position /= LowerRange * -1;
+ }
+ SignalLine.pulsewidth(seconds);
+}
+
+void Servo::pulsewidth_ms(int milliseconds)
+{
+ Position = ((milliseconds / 1000) / Period) - Center;
+ if (Position >=0)
+ {
+ Position /= UpperRange;
+ }
+ else
+ {
+ Position /= LowerRange * -1;
+ }
+ SignalLine.pulsewidth_ms(milliseconds);
+}
+
+void Servo::pulsewidth_us(int microseconds)
+{
+ Position = ((microseconds / 1000000) / Period) - Center;
+ if (Position >=0)
+ {
+ Position /= UpperRange;
+ }
+ else
+ {
+ Position /= LowerRange * -1;
+ }
+ SignalLine.pulsewidth_us(microseconds);
+}
+
+float Servo::operator =(float assignment)
+{
+ position(assignment);
+ return assignment;
+}
+
+Servo::operator float()
+{
+ return position();
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.h Tue Aug 31 04:37:07 2010 +0000
@@ -0,0 +1,48 @@
+#include "stdint.h"
+#include "mbed.h"
+
+class Servo
+{
+ private:
+ PwmOut SignalLine;
+
+ float Period;
+ float UpperRange;
+ float Center;
+ float LowerRange;
+ float Position;
+
+ public:
+ Servo(PinName sgnl);
+ //constructor sets common servo defaults
+ void position(float ratio);
+ //set normalized servo position (-1 to 1), default = 0
+ float position();
+ //get normalized servo position (-1 to 1)
+ void maximum(float seconds);
+ void maximum_ms(int milliseconds);
+ void maximum_us(int microseconds);
+ //set maximum deflection pulse width, default = 2400 us
+ void center(float seconds);
+ void center_ms(int milliseconds);
+ void center_us(int microseconds);
+ //set center deflection pulse width, default = 1500 us
+ void minimum(float seconds);
+ void minimum_ms(int milliseconds);
+ void minimum_us(int microseconds);
+ //set minimum deflection pulse width, default = 600 us
+ void period(float seconds);
+ void period_ms(int milliseconds);
+ void period_us(int microseconds);
+ //set the period, default = 20000 us
+ void pulsewidth(float seconds);
+ void pulsewidth_ms(int milliseconds);
+ void pulsewidth_us(int microseconds);
+ //set the pulse width, default = 1500 us
+ float operator =(float assignment);
+ //shorthand for position setting;
+ //ex: "ServoObj = 0.5;" will set servo deflection to +0.5
+ operator float();
+ //shorthand for position reading;
+ // ex: "float check = ServoObj;" will get the current servo deflection
+};
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Aug 31 04:37:07 2010 +0000
@@ -0,0 +1,12 @@
+#include "mbed.h"
+
+DigitalOut myled(LED1);
+
+int main() {
+ while(1) {
+ myled = 1;
+ wait(0.2);
+ myled = 0;
+ wait(0.2);
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Aug 31 04:37:07 2010 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/9114680c05da