Integrating the new Servo library (MegaServo) by Michael Margolis. Uses timer 1, and, on the Mega, timers 3, 4, and 5 for up to 12 servos (48 on the Mega).

1 files changed, 69 insertions, 29 deletions

diff --git a/libraries/Servo/Servo.h b/libraries/Servo/Servo.h
index 0b0e8db..9a25c65 100755
--- a/libraries/Servo/Servo.h
+++ b/libraries/Servo/Servo.h
@@ -1,10 +1,6 @@
-#ifndef Servo_h
-#define Servo_h
-
 /*
-  Servo.h - Hardware Servo Timer Library
-  Author: Jim Studt, jim@federated.com
-  Copyright (c) 2007 David A. Mellis.  All right reserved.
+  Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
+  Copyright (c) 2009 Michael Margolis.  All right reserved.
 
   This library is free software; you can redistribute it and/or
   modify it under the terms of the GNU Lesser General Public
@@ -21,32 +17,76 @@
   Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
+/* 
+  
+  A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
+  The servos are pulsed in the background using the value most recently written using the write() method
+
+  Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
+  Timers are siezed as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
+
+  The methods are:
+
+   Servo - Class for manipulating servo motors connected to Arduino pins.
+
+   attach(pin )  - Attaches a servo motor to an i/o pin.
+   attach(pin, min, max  ) - Attaches to a pin setting min and max values in microseconds
+   default min is 544, max is 2400  
+ 
+   write()     - Sets the servo angle in degrees.  (invalid angle that is valid as pulse in microseconds is treated as microseconds)
+   writeMicroseconds() - Sets the servo pulse width in microseconds 
+   read()      - Gets the last written servo pulse width as an angle between 0 and 180. 
+   readMicroseconds()   - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
+   attached()  - Returns true if there is a servo attached. 
+   detach()    - Stops an attached servos from pulsing its i/o pin. 
+ */
+
+#ifndef Servo_h
+#define Servo_h
+
 #include <inttypes.h>
 
+#define Servo_VERSION           2      // software version of this library
+
+#define MIN_PULSE_WIDTH       544     // the shortest pulse sent to a servo  
+#define MAX_PULSE_WIDTH      2400     // the longest pulse sent to a servo 
+#define DEFAULT_PULSE_WIDTH  1500     // default pulse width when servo is attached
+#define REFRESH_INTERVAL    20000     // minumim time to refresh servos in microseconds 
+
+#if defined(__AVR_ATmega1280__)
+#define MAX_SERVOS             48     // the maximum number of servos  (valid range is from 1 to 48)
+#else
+#define MAX_SERVOS             12     // this library supports up to 12 on a standard Arduino
+#endif
+
+#define INVALID_SERVO         255     // flag indicating an invalid servo index
+
+typedef struct  {
+  uint8_t nbr        :6 ;             // a pin number from 0 to 63
+  uint8_t isActive   :1 ;             // true if this channel is enabled, pin not pulsed if false 
+} ServoPin_t   ;  
+
+typedef struct {
+  ServoPin_t Pin;
+  unsigned int ticks;
+} servo_t;
+
 class Servo
 {
-  private:
-    uint8_t pin;
-    uint8_t angle;       // in degrees
-    uint8_t min16;       // minimum pulse, 16uS units  (default is 34)
-    uint8_t max16;       // maximum pulse, 16uS units, 0-4ms range (default is 150)
-    static void seizeTimer1();
-    static void releaseTimer1();
-    static uint8_t attached9;
-    static uint8_t attached10;
-  public:
-    Servo();
-    uint8_t attach(int);
-                             // pulse length for 0 degrees in microseconds, 544uS default
-                             // pulse length for 180 degrees in microseconds, 2400uS default
-    uint8_t attach(int, int, int);
-                             // attach to a pin, sets pinMode, returns 0 on failure, won't
-                             // position the servo until a subsequent write() happens
-                             // Only works for 9 and 10.
-    void detach();
-    void write(int);         // specify the angle in degrees, 0 to 180
-    uint8_t read();
-    uint8_t attached();
+public:
+  Servo();
+  uint8_t attach(int pin);           // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure
+  uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes. 
+  void detach();
+  void write(int value);             // if value is < 200 its treated as an angle, otherwise as pulse width in microseconds 
+  void writeMicroseconds(int value); // Write pulse width in microseconds 
+  int read();                        // returns current pulse width as an angle between 0 and 180 degrees
+  int readMicroseconds();            // returns current pulse width in microseconds for this servo (was read_us() in first release)
+  bool attached();                   // return true if this servo is attached, otherwise false 
+private:
+   uint8_t servoIndex;               // index into the channel data for this servo
+   int8_t min;                       // minimum is this value times 4 added to MIN_PULSE_WIDTH    
+   int8_t max;                       // maximum is this value times 4 added to MAX_PULSE_WIDTH   
 };
 
-#endif
+#endif
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