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Diffstat (limited to 'libraries/Servo/Servo.h')
| -rwxr-xr-x | libraries/Servo/Servo.h | 98 |
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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