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https://github.com/esp8266/Arduino.git
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Allman now (#6080)
* switch restyle script for CI * remove confirmation * restyle with allman
This commit is contained in:
Allman-astyler
committed by
david gauchard
david gauchard
parent
625c3a62c4
commit
98125f8860
@ -1,21 +1,21 @@
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/*
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Servo library using shared TIMER1 infrastructure
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Servo library using shared TIMER1 infrastructure
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Original Copyright (c) 2015 Michael C. Miller. All right reserved.
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Original Copyright (c) 2015 Michael C. Miller. 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 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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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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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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#if defined(ESP8266)
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@ -43,87 +43,92 @@ int improved_map(int value, int minIn, int maxIn, int minOut, int maxOut)
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Servo::Servo()
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{
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_attached = false;
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_valueUs = DEFAULT_PULSE_WIDTH;
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_minUs = MIN_PULSE_WIDTH;
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_maxUs = MAX_PULSE_WIDTH;
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_attached = false;
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_valueUs = DEFAULT_PULSE_WIDTH;
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_minUs = MIN_PULSE_WIDTH;
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_maxUs = MAX_PULSE_WIDTH;
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}
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Servo::~Servo() {
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detach();
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Servo::~Servo()
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{
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detach();
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}
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uint8_t Servo::attach(int pin)
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{
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return attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
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return attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
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}
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uint8_t Servo::attach(int pin, uint16_t minUs, uint16_t maxUs)
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{
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if (!_attached) {
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digitalWrite(pin, LOW);
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pinMode(pin, OUTPUT);
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_pin = pin;
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_attached = true;
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}
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if (!_attached)
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{
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digitalWrite(pin, LOW);
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pinMode(pin, OUTPUT);
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_pin = pin;
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_attached = true;
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}
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// keep the min and max within 200-3000 us, these are extreme
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// ranges and should support extreme servos while maintaining
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// reasonable ranges
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_maxUs = max((uint16_t)250, min((uint16_t)3000, maxUs));
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_minUs = max((uint16_t)200, min(_maxUs, minUs));
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// keep the min and max within 200-3000 us, these are extreme
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// ranges and should support extreme servos while maintaining
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// reasonable ranges
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_maxUs = max((uint16_t)250, min((uint16_t)3000, maxUs));
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_minUs = max((uint16_t)200, min(_maxUs, minUs));
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write(_valueUs);
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write(_valueUs);
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return pin;
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return pin;
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}
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void Servo::detach()
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{
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if (_attached) {
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stopWaveform(_pin);
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_attached = false;
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digitalWrite(_pin, LOW);
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}
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if (_attached)
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{
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stopWaveform(_pin);
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_attached = false;
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digitalWrite(_pin, LOW);
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}
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}
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void Servo::write(int value)
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{
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// treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
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if (value < _minUs) {
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// assumed to be 0-180 degrees servo
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value = constrain(value, 0, 180);
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// writeMicroseconds will contrain the calculated value for us
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// for any user defined min and max, but we must use default min max
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value = improved_map(value, 0, 180, _minUs, _maxUs);
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}
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writeMicroseconds(value);
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// treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
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if (value < _minUs)
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{
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// assumed to be 0-180 degrees servo
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value = constrain(value, 0, 180);
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// writeMicroseconds will contrain the calculated value for us
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// for any user defined min and max, but we must use default min max
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value = improved_map(value, 0, 180, _minUs, _maxUs);
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}
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writeMicroseconds(value);
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}
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void Servo::writeMicroseconds(int value)
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{
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_valueUs = value;
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if (_attached) {
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startWaveform(_pin, _valueUs, REFRESH_INTERVAL - _valueUs, 0);
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}
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_valueUs = value;
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if (_attached)
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{
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startWaveform(_pin, _valueUs, REFRESH_INTERVAL - _valueUs, 0);
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}
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}
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int Servo::read() // return the value as degrees
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{
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// read returns the angle for an assumed 0-180, so we calculate using
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// the normal min/max constants and not user defined ones
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return improved_map(readMicroseconds(), _minUs, _maxUs, 0, 180);
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// read returns the angle for an assumed 0-180, so we calculate using
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// the normal min/max constants and not user defined ones
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return improved_map(readMicroseconds(), _minUs, _maxUs, 0, 180);
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}
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int Servo::readMicroseconds()
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{
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return _valueUs;
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return _valueUs;
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}
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bool Servo::attached()
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{
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return _attached;
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return _attached;
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}
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#endif
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@ -1,21 +1,21 @@
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/*
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Servo.h - Interrupt driven Servo library for Esp8266 using timers
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Original Copyright (c) 2015 Michael C. Miller. All right reserved.
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Servo.h - Interrupt driven Servo library for Esp8266 using timers
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Original Copyright (c) 2015 Michael C. Miller. 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 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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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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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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// A servo is activated by creating an instance of the Servo class passing
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@ -37,7 +37,7 @@
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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() - Returns true if there is a servo attached.
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// detach() - Stops an attached servos from pulsing its i/o pin.
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#ifndef Servo_h
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#define Servo_h
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@ -63,18 +63,18 @@ public:
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Servo();
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~Servo();
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uint8_t attach(int pin); // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure
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uint8_t attach(int pin, uint16_t min, uint16_t max); // as above but also sets min and max values for writes.
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uint8_t attach(int pin, uint16_t min, uint16_t max); // as above but also sets min and max values for writes.
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void detach();
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void write(int value); // if value is < 200 its treated as an angle, otherwise as pulse width in microseconds
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void writeMicroseconds(int value); // Write pulse width in microseconds
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void write(int value); // if value is < 200 its treated as an angle, otherwise as pulse width in microseconds
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void writeMicroseconds(int value); // Write pulse width in microseconds
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int read(); // returns current pulse width as an angle between 0 and 180 degrees
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int readMicroseconds(); // returns current pulse width in microseconds for this servo (was read_us() in first release)
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bool attached(); // return true if this servo is attached, otherwise false
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bool attached(); // return true if this servo is attached, otherwise false
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private:
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bool _attached;
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uint8_t _pin;
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uint16_t _minUs;
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uint16_t _maxUs;
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uint16_t _minUs;
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uint16_t _maxUs;
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uint16_t _valueUs;
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};
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