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60 lines
2.6 KiB
C
60 lines
2.6 KiB
C
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/*
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Copyright (c) 2013 Benjamin Holt
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The MIT License (MIT) - See README for complete license
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*/
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#ifndef _SimpleServo_h_
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#define _SimpleServo_h_
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#include <inttypes.h>
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#include <WProgram.h>
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class SimpleServo {
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private:
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// Movement
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uint8_t _pin;
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uint8_t _degrees;
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uint16_t _microseconds;
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// Servo Parameters
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// REM: nasty bit about when to constrain vs. not... more below...
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uint8_t _maxDegrees;
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uint16_t _millisPer60degrees;
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uint16_t _minWriteMillis;
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uint16_t _maxWriteMillis;
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uint16_t _minPulse;
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uint16_t _maxPulse;
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uint8_t _pulseMillis;
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void _pulse(uint16_t);
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public:
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// TODO: update keywords file
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// Setup
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SimpleServo();
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uint8_t attach(uint8_t); // Note: resets position, but not servo parameters, doesn't signal servo
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void detach();
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uint8_t attached();
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// Movement
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void write(uint8_t);
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void writeMicroseconds(uint16_t);
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uint32_t millisToTarget(uint8_t); // Estimates time from current (expected) position to a target; if millisPer60Degrees is too small, this will come up short and the servo may not reach the target, too large and the write methods may signal longer than needed
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void writeMillis(uint8_t, uint16_t); // Allows unconstrained millis
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void writeMicrosecondsMillis(uint16_t, uint16_t); // Allows unconstrained microseconds and millis, full manual control
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uint8_t read();
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uint16_t readMicroseconds();
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// Servo Parameters
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void setMaximumDegrees(uint8_t); // A lot of servos move a bit more than 180
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void setMillisPer60Degrees(uint16_t); // For estimating time from last set position to newly requested position; different for every servo, http://www.servodatabase.com has many specs, default is 230 from Futaba S3003
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void setMinimumMillis(uint16_t); // The smallest time to signal the servo; some write methods do not enforce this
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void setMaximumMillis(uint16_t); // This longest time to signal the servo, even if it probably has not yet reached the requested position; some write methods do not enforce this
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void setMinimumPulse(uint16_t); // The shortest pulse (in microseconds) to send to the servo, maps to 0deg; only writeMicrosecondsMillis does not enforce this
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void setMaximumPulse(uint16_t); // The shortest pulse (in microseconds) to send to the servo, maps to 0deg; only writeMicrosecondsMillis does not enforce this
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void setPulseMillis(uint8_t); // Delay between pulses; defaults to 16 which is a bit quicker than spec. Experiment, different servos may react differently
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};
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#endif // _SimpleServo_h_
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