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