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authorCristian Maglie <c.maglie@bug.st>2013-08-23 15:59:24 +0200
committerCristian Maglie <c.maglie@bug.st>2013-08-23 15:59:24 +0200
commit540743129b2badb813b703208d121ff14553c147 (patch)
tree6fadb4ebce68e1f0cb298a282be135c23fd156ed /libraries/Servo/Servo.h
parent073b3ac9d4ae93ac0bb3a91afc65ae9d8f1d5d59 (diff)
parent67c84855c2f3ce99b091a756bb2ca1a016260659 (diff)
Merge branch 'ide-1.5.x' into dev-ide-1.5.x-discovery
Conflicts: app/src/processing/app/Preferences.java app/src/processing/app/debug/Uploader.java
Diffstat (limited to 'libraries/Servo/Servo.h')
-rw-r--r--libraries/Servo/Servo.h126
1 files changed, 0 insertions, 126 deletions
diff --git a/libraries/Servo/Servo.h b/libraries/Servo/Servo.h
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--- a/libraries/Servo/Servo.h
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-/*
- 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
- License as published by the Free Software Foundation; either
- version 2.1 of the License, or (at your option) any later version.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- Lesser General Public License for more details.
-
- You should have received a copy of the GNU Lesser General Public
- License along with this library; if not, write to the Free Software
- 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 seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
- The sequence used to sieze timers is defined in timers.h
-
- 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>
-
-/*
- * Defines for 16 bit timers used with Servo library
- *
- * If _useTimerX is defined then TimerX is a 16 bit timer on the curent board
- * timer16_Sequence_t enumerates the sequence that the timers should be allocated
- * _Nbr_16timers indicates how many 16 bit timers are available.
- *
- */
-
-// Say which 16 bit timers can be used and in what order
-#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
-#define _useTimer5
-#define _useTimer1
-#define _useTimer3
-#define _useTimer4
-typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
-
-#elif defined(__AVR_ATmega32U4__)
-#define _useTimer1
-typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
-
-#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
-#define _useTimer3
-#define _useTimer1
-typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
-
-#elif defined(__AVR_ATmega128__) ||defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
-#define _useTimer3
-#define _useTimer1
-typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
-
-#else // everything else
-#define _useTimer1
-typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
-#endif
-
-#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
-
-#define SERVOS_PER_TIMER 12 // the maximum number of servos controlled by one timer
-#define MAX_SERVOS (_Nbr_16timers * SERVOS_PER_TIMER)
-
-#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
-{
-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