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75 lines
3.9 KiB
C++
75 lines
3.9 KiB
C++
#ifndef SoftRcPulseOut_h
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#define SoftRcPulseOut_h
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/*
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Update 01/03/2013: add support for Digispark (http://digistump.com): automatic Timer selection (RC Navy: p.loussouarn.free.fr)
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Update 19/08/2014: usage with write_us and read_us fixed and optimized for highest resolution
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English: by RC Navy (2012)
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=======
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<SoftRcPulseOut>: a library mainly based on the <SoftwareServo> library, but with a better pulse generation to limit jitter.
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It supports the same methods as <SoftwareServo>.
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It also support Pulse Width order given in microseconds. The current Pulse Width can also be read in microseconds.
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The refresh method can admit an optionnal argument (force). If SoftRcPulseOut::refresh(1) is called, the refresh is forced even if 20 ms are not elapsed.
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The refresh() method returns 1 if refresh done (can be used for synchro and/or for 20ms timer).
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http://p.loussouarn.free.fr
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Francais: par RC Navy (2012)
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========
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<SoftRcPulseOut>: une librairie majoritairement basee sur la librairie <SoftwareServo>, mais avec une meilleure generation des impulsions pour limiter la gigue.
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Elle supporte les memes methodes que <SoftwareServo>.
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Elle supporte egalement une consigne de largeur d'impulsion passee en microseconde. La largeur de l'impulsion courante peut egalement etre lue en microseconde.
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La methode refresh peut admettre un parametre optionnel (force). Si SoftRcPulseOut::resfresh(1) est appelee, le refresh est force meme si 20 ms ne se sont pas ecoulee.
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La methode refresh() retourne 1 si refresh effectue (peut etre utilise pour synhro et/ou 20ms timer).
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http://p.loussouarn.free.fr
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*/
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#if defined(ARDUINO) && ARDUINO >= 100
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#endif
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#include <inttypes.h>
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class SoftRcPulseOut
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{
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private:
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boolean ItMasked;
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uint8_t pin;
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uint8_t angle; // in degrees
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uint16_t pulse0; // pulse width in TCNT0 counts
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uint8_t min16; // minimum pulse, 16uS units (default is 34)
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uint8_t max16; // maximum pulse, 16uS units, 0-4ms range (default is 150)
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class SoftRcPulseOut *next;
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static SoftRcPulseOut *first;
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public:
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SoftRcPulseOut();
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uint8_t attach(int); // attach to a pin, sets pinMode, returns 0 on failure, won't
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// position the servo until a subsequent write() happens
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void detach();
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void write(int); // specify the angle in degrees, 0 to 180
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void write_us(uint16_t); // specify the angle in microseconds, 500 to 2500
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uint8_t read(); // return the current angle
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uint16_t read_us(); // return the current pulse with in microseconds
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uint8_t attached();
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void setMinimumPulse(uint16_t); // pulse length for 0 degrees in microseconds, 540uS default
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void setMaximumPulse(uint16_t); // pulse length for 180 degrees in microseconds, 2400uS default
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static uint8_t refresh(bool force = false);// must be called at least every 50ms or so to keep servo alive
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// you can call more often, it won't happen more than once every 20ms
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};
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/* Methodes en Francais English native methods */
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#define attache attach
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#define detache detach
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#define ecrit write
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#define ecrit_us write_us
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#define lit read
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#define lit_us read_us
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#define estAttache attached
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#define definitImpulsionMinimum setMinimumPulse
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#define definitImpulsionMaximum setMaximumPulse
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#define rafraichit refresh
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#endif
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