|
|
|
|
@ -21,50 +21,35 @@
|
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
|
|
|
|
|
Copyright (c) 2009 Michael Margolis. All right reserved.
|
|
|
|
|
|
|
|
|
|
This library is free software; you can redistribute it and/or
|
|
|
|
|
modify it under the terms of the GNU Lesser General Public
|
|
|
|
|
License as published by the Free Software Foundation; either
|
|
|
|
|
version 2.1 of the License, or (at your option) any later version.
|
|
|
|
|
|
|
|
|
|
This library is distributed in the hope that it will be useful,
|
|
|
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
|
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
|
|
|
|
Lesser General Public License for more details.
|
|
|
|
|
|
|
|
|
|
You should have received a copy of the GNU Lesser General Public
|
|
|
|
|
License along with this library; if not, write to the Free Software
|
|
|
|
|
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
|
|
|
|
* servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
|
|
|
|
|
* Copyright (c) 2009 Michael Margolis. All right reserved.
|
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
|
|
|
|
|
A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
|
|
|
|
|
The servos are pulsed in the background using the value most recently written using the write() method
|
|
|
|
|
|
|
|
|
|
Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
|
|
|
|
|
Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
|
|
|
|
|
|
|
|
|
|
The methods are:
|
|
|
|
|
|
|
|
|
|
Servo - Class for manipulating servo motors connected to Arduino pins.
|
|
|
|
|
|
|
|
|
|
attach(pin ) - Attaches a servo motor to an i/o pin.
|
|
|
|
|
attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds
|
|
|
|
|
default min is 544, max is 2400
|
|
|
|
|
|
|
|
|
|
write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
|
|
|
|
|
writeMicroseconds() - Sets the servo pulse width in microseconds
|
|
|
|
|
move(pin, angle) - Sequence of attach(pin), write(angle).
|
|
|
|
|
With DEACTIVATE_SERVOS_AFTER_MOVE it waits SERVO_DEACTIVATION_DELAY and detaches.
|
|
|
|
|
read() - Gets the last written servo pulse width as an angle between 0 and 180.
|
|
|
|
|
readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
|
|
|
|
|
attached() - Returns true if there is a servo attached.
|
|
|
|
|
detach() - Stops an attached servos from pulsing its i/o pin.
|
|
|
|
|
|
|
|
|
|
*/
|
|
|
|
|
* A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
|
|
|
|
|
* The servos are pulsed in the background using the value most recently written using the write() method
|
|
|
|
|
*
|
|
|
|
|
* Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
|
|
|
|
|
* Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
|
|
|
|
|
*
|
|
|
|
|
* The methods are:
|
|
|
|
|
*
|
|
|
|
|
* Servo - Class for manipulating servo motors connected to Arduino pins.
|
|
|
|
|
*
|
|
|
|
|
* attach(pin) - Attach a servo motor to an i/o pin.
|
|
|
|
|
* attach(pin, min, max) - Attach to a pin, setting min and max values in microseconds
|
|
|
|
|
* Default min is 544, max is 2400
|
|
|
|
|
*
|
|
|
|
|
* write() - Set the servo angle in degrees. (Invalid angles —over MIN_PULSE_WIDTH— are treated as µs.)
|
|
|
|
|
* writeMicroseconds() - Set the servo pulse width in microseconds.
|
|
|
|
|
* move(pin, angle) - Sequence of attach(pin), write(angle), delay(SERVO_DELAY).
|
|
|
|
|
* With DEACTIVATE_SERVOS_AFTER_MOVE it detaches after SERVO_DELAY.
|
|
|
|
|
* read() - Get the last-written servo pulse width as an angle between 0 and 180.
|
|
|
|
|
* readMicroseconds() - Get the last-written servo pulse width in microseconds.
|
|
|
|
|
* attached() - Return true if a servo is attached.
|
|
|
|
|
* detach() - Stop an attached servo from pulsing its i/o pin.
|
|
|
|
|
*
|
|
|
|
|
*/
|
|
|
|
|
#include "Configuration.h"
|
|
|
|
|
|
|
|
|
|
#if HAS_SERVOS
|
|
|
|
|
@ -238,6 +223,7 @@ static void finISR(timer16_Sequence_t timer) {
|
|
|
|
|
}
|
|
|
|
|
#else //!WIRING
|
|
|
|
|
// For arduino - in future: call here to a currently undefined function to reset the timer
|
|
|
|
|
UNUSED(timer);
|
|
|
|
|
#endif
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
@ -324,8 +310,8 @@ bool Servo::attached() { return servo_info[this->servoIndex].Pin.isActive; }
|
|
|
|
|
void Servo::move(int value) {
|
|
|
|
|
if (this->attach(0) >= 0) {
|
|
|
|
|
this->write(value);
|
|
|
|
|
delay(SERVO_DELAY);
|
|
|
|
|
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
|
|
|
|
|
delay(SERVO_DEACTIVATION_DELAY);
|
|
|
|
|
this->detach();
|
|
|
|
|
#endif
|
|
|
|
|
}
|
|
|
|
|
|
Scott Lahteine
8 years ago