MakeBlock Drive Updated Updated library for MakeBlock Ranger

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Servo.h
1/*
2 Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
3 Copyright (c) 2009 Michael Margolis. All right reserved.
4
5 This library is free software; you can redistribute it and/or
6 modify it under the terms of the GNU Lesser General Public
7 License as published by the Free Software Foundation; either
8 version 2.1 of the License, or (at your option) any later version.
9
10 This library is distributed in the hope that it will be useful,
11 but WITHOUT ANY WARRANTY; without even the implied warranty of
12 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
13 Lesser General Public License for more details.
14
15 You should have received a copy of the GNU Lesser General Public
16 License along with this library; if not, write to the Free Software
17 Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
18*/
19
20/*
21 A servo is activated by creating an instance of the Servo class passing
22 the desired pin to the attach() method.
23 The servos are pulsed in the background using the value most recently
24 written using the write() method.
25
26 Note that analogWrite of PWM on pins associated with the timer are
27 disabled when the first servo is attached.
28 Timers are seized as needed in groups of 12 servos - 24 servos use two
29 timers, 48 servos will use four.
30 The sequence used to sieze timers is defined in timers.h
31
32 The methods are:
33
34 Servo - Class for manipulating servo motors connected to Arduino pins.
35
36 attach(pin ) - Attaches a servo motor to an i/o pin.
37 attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds
38 default min is 544, max is 2400
39
40 write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
41 writeMicroseconds() - Sets the servo pulse width in microseconds
42 read() - Gets the last written servo pulse width as an angle between 0 and 180.
43 readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
44 attached() - Returns true if there is a servo attached.
45 detach() - Stops an attached servos from pulsing its i/o pin.
46 */
47
48#ifndef Servo_h
49#define Servo_h
50
51#include <inttypes.h>
52
53/*
54 * Defines for 16 bit timers used with Servo library
55 *
56 * If _useTimerX is defined then TimerX is a 16 bit timer on the current board
57 * timer16_Sequence_t enumerates the sequence that the timers should be allocated
58 * _Nbr_16timers indicates how many 16 bit timers are available.
59 */
60
61// Architecture specific include
62#if defined(ARDUINO_ARCH_AVR)
63#include "avr/ServoTimers.h"
64#elif defined(ARDUINO_ARCH_SAM)
65#include "sam/ServoTimers.h"
66#elif defined(ARDUINO_ARCH_SAMD)
67#include "samd/ServoTimers.h"
68#else
69#error "This library only supports boards with an AVR, SAM or SAMD processor."
70#endif
71
72#define Servo_VERSION 2 // software version of this library
73
74#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
75#define MAX_PULSE_WIDTH 2350 // the longest pulse sent to a servo
76#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached
77#define REFRESH_INTERVAL 20000 // minumim time to refresh servos in microseconds
78
79#define SERVOS_PER_TIMER 12 // the maximum number of servos controlled by one timer
80#define MAX_SERVOS (_Nbr_16timers * SERVOS_PER_TIMER)
81
82#define INVALID_SERVO 255 // flag indicating an invalid servo index
83
84 typedef struct {
85 uint8_t nbr :7 ; // a pin number from 0 to 127
86 uint8_t isActive :1 ; // true if this channel is enabled, pin not pulsed if false
87} ServoPin_t ;
88
89 typedef struct {
90 ServoPin_t Pin;
91 volatile unsigned int ticks;
92} servo_t;
93
94 class Servo
95{
96 public:
97 Servo();
98 uint8_t attach(int pin); // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure
99 uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes.
100 void detach();
101 void write(int value); // if value is < 200 its treated as an angle, otherwise as pulse width in microseconds
102 void writeMicroseconds(int value); // Write pulse width in microseconds
103 int read(); // returns current pulse width as an angle between 0 and 180 degrees
104 int readMicroseconds(); // returns current pulse width in microseconds for this servo (was read_us() in first release)
105 bool attached(); // return true if this servo is attached, otherwise false
106 private:
107 uint8_t servoIndex; // index into the channel data for this servo
108 int8_t min; // minimum is this value times 4 added to MIN_PULSE_WIDTH
109 int8_t max; // maximum is this value times 4 added to MAX_PULSE_WIDTH
110};
111
112#endif
Servo
Definition Servo.h:95
ServoPin_t
Definition Servo.h:84
servo_t
Definition Servo.h:89