2014-10-29 06:36:47 -07:00
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/******************************************************************************
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* The MIT License
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*
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* Copyright (c) 2010, LeafLabs, LLC.
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use, copy,
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* modify, merge, publish, distribute, sublicense, and/or sell copies
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* of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
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* BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
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* ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*****************************************************************************/
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#ifndef _SERVO_H_
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#define _SERVO_H_
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#include <libmaple/libmaple_types.h>
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#include <libmaple/timer.h>
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2014-11-21 11:46:57 -08:00
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#include <wirish_types.h>
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2014-10-29 06:36:47 -07:00
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/*
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* Note on Arduino compatibility:
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*
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* In the Arduino implementation, PWM is done "by hand" in the sense
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* that timer channels are hijacked in groups and an ISR is set which
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* toggles Servo::attach()ed pins using digitalWrite().
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*
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* While this scheme allows any pin to drive a servo, it chews up
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* cycles and complicates the programmer's notion of when a particular
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* timer channel will be in use.
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*
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* This implementation only allows Servo instances to attach() to pins
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* that already have a timer channel associated with them, and just
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* uses pwmWrite() to drive the wave.
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*
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* This introduces an incompatibility: while the Arduino
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* implementation of attach() returns the affected channel on success
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* and 0 on failure, this one returns true on success and false on
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* failure.
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*
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* RC Servos expect a pulse every 20ms. Since periods are set for
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* entire timers, rather than individual channels, attach()ing a Servo
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* to a pin can interfere with other pins associated with the same
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* timer. As always, your board's pin map is your friend.
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*/
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// Pin number of unattached pins
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#define NOT_ATTACHED (-1)
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// Default min/max pulse widths (in microseconds) and angles (in
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// degrees). Values chosen for Arduino compatibility. These values
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// are part of the public API; DO NOT CHANGE THEM.
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#define SERVO_DEFAULT_MIN_PW 544
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#define SERVO_DEFAULT_MAX_PW 2400
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#define SERVO_DEFAULT_MIN_ANGLE 0
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#define SERVO_DEFAULT_MAX_ANGLE 180
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/** Class for interfacing with RC servomotors. */
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class Servo {
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public:
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/**
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* @brief Construct a new Servo instance.
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*
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* The new instance will not be attached to any pin.
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*/
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Servo();
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/**
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* @brief Associate this instance with a servomotor whose input is
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* connected to pin.
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*
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* If this instance is already attached to a pin, it will be
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* detached before being attached to the new pin. This function
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* doesn't detach any interrupt attached with the pin's timer
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* channel.
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*
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* @param pin Pin connected to the servo pulse wave input. This
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* pin must be capable of PWM output.
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*
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* @param minPulseWidth Minimum pulse width to write to pin, in
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* microseconds. This will be associated
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* with a minAngle degree angle. Defaults to
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* SERVO_DEFAULT_MIN_PW = 544.
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*
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* @param maxPulseWidth Maximum pulse width to write to pin, in
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* microseconds. This will be associated
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* with a maxAngle degree angle. Defaults to
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* SERVO_DEFAULT_MAX_PW = 2400.
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*
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* @param minAngle Target angle (in degrees) associated with
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* minPulseWidth. Defaults to
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* SERVO_DEFAULT_MIN_ANGLE = 0.
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*
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* @param maxAngle Target angle (in degrees) associated with
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* maxPulseWidth. Defaults to
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* SERVO_DEFAULT_MAX_ANGLE = 180.
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*
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* @sideeffect May set pinMode(pin, PWM).
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*
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* @return true if successful, false when pin doesn't support PWM.
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*/
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bool attach(uint8 pin,
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uint16 minPulseWidth=SERVO_DEFAULT_MIN_PW,
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uint16 maxPulseWidth=SERVO_DEFAULT_MAX_PW,
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int16 minAngle=SERVO_DEFAULT_MIN_ANGLE,
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int16 maxAngle=SERVO_DEFAULT_MAX_ANGLE);
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/**
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* @brief Check if this instance is attached to a servo.
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* @return true if this instance is attached to a servo, false otherwise.
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* @see Servo::attachedPin()
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*/
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bool attached() const { return this->pin != NOT_ATTACHED; }
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/**
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* @brief Get the pin this instance is attached to.
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* @return Pin number if currently attached to a pin, NOT_ATTACHED
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* otherwise.
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* @see Servo::attach()
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*/
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int attachedPin() const { return this->pin; }
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/**
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* @brief Stop driving the servo pulse train.
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*
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* If not currently attached to a motor, this function has no effect.
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*
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* @return true if this call did anything, false otherwise.
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*/
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bool detach();
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/**
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* @brief Set the servomotor target angle.
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*
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* @param angle Target angle, in degrees. If the target angle is
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* outside the range specified at attach() time, it
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* will be clamped to lie in that range.
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*
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* @see Servo::attach()
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*/
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void write(int angle);
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/**
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* Get the servomotor's target angle, in degrees. This will
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* lie inside the range specified at attach() time.
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*
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* @see Servo::attach()
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*/
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int read() const;
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/**
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* @brief Set the pulse width, in microseconds.
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*
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* @param pulseWidth Pulse width to send to the servomotor, in
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* microseconds. If outside of the range
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* specified at attach() time, it is clamped to
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* lie in that range.
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*
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* @see Servo::attach()
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*/
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void writeMicroseconds(uint16 pulseWidth);
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/**
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* Get the current pulse width, in microseconds. This will
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* lie within the range specified at attach() time.
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*
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* @see Servo::attach()
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*/
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uint16 readMicroseconds() const;
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private:
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int16 pin;
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uint16 minPW;
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uint16 maxPW;
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int16 minAngle;
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int16 maxAngle;
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void resetFields(void);
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};
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#endif /* _SERVO_H_ */
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