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Serial Wombat Arduino Library
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A derived class that adds additional Servo Functionality for the Serial Wombat 18AB Chip. More...
#include <SerialWombatServo.h>
Public Member Functions | |
SerialWombatServo_18AB (SerialWombatChip &serialWombat) | |
uint8_t | pin () |
uint8_t | swPinModeNumber () |
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SerialWombatServo (SerialWombatChip &sw) | |
Constructor for the SerialWombatServo Class. More... | |
~SerialWombatServo () | |
void | attach (uint8_t pin, bool reverse) |
Initialize a servo on the specified pin. More... | |
void | attach (uint8_t pin, uint16_t min=544, uint16_t max=2400, bool reverse=false) |
Initialize a servo on the specified pin. More... | |
void | write (uint8_t angle) |
Writes a value to the servo. More... | |
void | write16bit (uint16_t position) |
Writes a 16 bit value to the servo. More... | |
uint8_t | read (void) |
returns the last position of the servo scaled to a number from 0 to 180. More... | |
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SerialWombatPin (SerialWombatChip &serialWombatChip) | |
Instantiates a Serial Wombat Pin. More... | |
SerialWombatPin (SerialWombatChip &serialWombatChip, uint8_t pin) | |
Instantiates a Serial Wombat Pin. More... | |
uint16_t | readPublicData () |
Read the 16 Bit public data associated with this pin. More... | |
void | pinMode (uint8_t mode) |
Set pin to INPUT or OUTPUT. More... | |
void | pinMode (uint8_t mode, bool pullDown, bool openDrain) |
Set pin to INPUT or OUTPUT, with options for pull Ups and open Drain settings. More... | |
void | digitalWrite (uint8_t val) |
Set output pin High or Low. More... | |
int | digitalRead () |
Reads the state of the Pin. More... | |
uint16_t | writePublicData (uint16_t value) |
Write a 16 bit value to this pin. More... | |
uint8_t | pin () |
Returns the current SW pin number. Used primarily for virtual calls by derived classes. More... | |
uint8_t | swPinModeNumber () |
Returns the Mode number. Used primarily by derived classes to populate packet data. More... | |
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SerialWombatAbstractScaledOutput (SerialWombatChip &sw) | |
Constructor for the SerialWombatAbstractScaledOutput Class. More... | |
int16_t | writeTimeout (uint16_t timeout_mS, uint16_t timeoutOutputValue) |
int16_t | writeScalingEnabled (bool enabled, uint8_t sourcePin) |
int16_t | writeInputScaling (uint16_t inputMin, uint16_t inputMax) |
int16_t | writeOutputScaling (uint16_t outputMin, uint16_t outputMax) |
int16_t | writeScalingInvertedInput (bool inverted) |
int16_t | writeScalingTargetValue (uint16_t target) |
int16_t | configureRateControl (uint8_t sampleRate, uint16_t filterConstant) |
int16_t | configure1stOrderFiltering (uint8_t sampleRate, uint16_t filterConstant) |
int16_t | configureHysteresis (uint16_t lowLimit, uint16_t lowOutputValue, uint16_t highLimit, uint16_t highOutputValue, uint16_t initialOutputValue) |
int16_t | configurePID (uint16_t kp, uint16_t ki, uint16_t kd, uint16_t target, uint8_t sampleRate) |
Additional Inherited Members | |
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void | initializeServo () |
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uint16_t | _position = 0 |
uint16_t | _min = 544 |
uint16_t | _max = 2400 |
bool | _reverse = false |
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uint8_t | _pin = 255 |
SerialWombatChip & | _sw |
uint8_t | _pinMode = 0 |
A derived class that adds additional Servo Functionality for the Serial Wombat 18AB Chip.
The SerialWombatServo_18AB class is used to control hobby servos attached to the Serial Wombat chip.
This class extends SerialWombatServo by adding support for SerialWombatAbstractScaledOutput interfaces
Any output-capable pin may be attached to an instance of the SerialWombatServo_18AB class. A separate instance should be declared for each Servo.
On the Serial Wombat 18AB chip all Enhanced Digital Capability output pins (0-4,7,9-19) can be timed to sub-microsecond precision by sharing hardware timing resources (assuming resources are avaialble and have not be permanently claimed by PWM pin modes or other pin modes that claim and hold timing resources).
For SW18AB pins that are not enhanced, or if timing resources are not available the pin mode will degrade to using DMA based output with 17uS resolution. This equates to slightly better than 7 bit resolution for a 500-2500uS pulse range servo.
This class uses "attach" rather than "begin" to initialize servos to be consistent with the Arduino Servo native API.
SerialWombatServo_18AB::SerialWombatServo_18AB | ( | SerialWombatChip & | serialWombat | ) |
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virtual |
Implements SerialWombatAbstractScaledOutput.
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virtual |
Implements SerialWombatAbstractScaledOutput.