Diff: Servo/Servo.h

Revision:

26:0995f61cb7b8

Parent:

23:1901cb6d0d95

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo/Servo.h	Wed Oct 17 22:22:47 2012 +0000
@@ -0,0 +1,90 @@
+/* mbed Servo Library without using PWM pins
+ * Copyright (c) 2010 Jasper Denkers
+ *
+ * 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 MBED_SERVO_H
+#define MBED_SERVO_H
+
+#include "mbed.h"
+
+/** Class to control a servo on any pin, without using pwm
+ *
+ * Example:
+ * @code
+ * // Keep sweeping servo from left to right
+ * #include "mbed.h"
+ * #include "Servo.h"
+ * 
+ * Servo Servo1(p20);
+ *
+ * Servo1.Enable(1500,20000);
+ *
+ * while(1) {
+ *     for (int pos = 1000; pos < 2000; pos += 25) {
+ *         Servo1.SetPosition(pos);  
+ *         wait_ms(20);
+ *     }
+ *     for (int pos = 2000; pos > 1000; pos -= 25) {
+ *         Servo1.SetPosition(pos); 
+ *         wait_ms(20); 
+ *     }
+ * }
+ * @endcode
+ */
+
+class Servo {
+
+public:
+    /** Create a new Servo object on any mbed pin
+     *
+     * @param Pin Pin on mbed to connect servo to
+     */
+    Servo(PinName Pin);
+    
+    /** Change the position of the servo. Position in us
+     *
+     * @param NewPos The new value of the servos position (us)
+     */
+    void SetPosition(int NewPos);
+    
+    /** Enable the servo. Without enabling the servo won't be running. Startposition and period both in us.
+     *
+     * @param StartPos The position of the servo to start (us) 
+     * @param Period The time between every pulse. 20000 us = 50 Hz(standard) (us)
+     */
+    void Enable(int StartPos, int Period);
+    
+    /** Disable the servo. After disabling the servo won't get any signal anymore
+     *
+     */
+    void Disable();
+
+private:
+    void StartPulse();
+    void EndPulse();
+
+    int Position;
+    DigitalOut ServoPin;
+    Ticker Pulse;
+    Timeout PulseStop;
+};
+
+#endif
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