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94 lines
4.0 KiB
C++
94 lines
4.0 KiB
C++
/*
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Servo.h - Interrupt driven Servo library for Esp8266 using timers
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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 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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// A servo is activated by creating an instance of the Servo class passing
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// the desired pin to the attach() method.
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// The servos are pulsed in the background using the value most recently
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// written using the write() method.
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//
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// This library uses timer0 and timer1.
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// Note that timer0 may be repurposed when the first servo is attached.
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//
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// Timers are seized as needed in groups of 12 servos - 24 servos use two
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// timers, there are only two timers for the esp8266 so the support stops here
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// The sequence used to sieze timers is defined in timers.h
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//
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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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//
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// attach(pin ) - Attaches a servo motor to an i/o pin.
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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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//
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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() - Sets the servo pulse width in microseconds
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// read() - Gets the last written servo pulse width as an angle between 0 and 180.
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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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#include <Arduino.h>
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// the following are in us (microseconds)
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//
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#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
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#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo
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#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached
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#define REFRESH_INTERVAL 20000 // minumim time to refresh servos in microseconds
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// NOTE: to maintain a strict refresh interval the user needs to not exceede 8 servos
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#define SERVOS_PER_TIMER 12 // the maximum number of servos controlled by one timer
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#define MAX_SERVOS (ServoTimerSequence_COUNT * SERVOS_PER_TIMER)
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#if defined(ESP8266)
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#include "esp8266/ServoTimers.h"
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#else
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#error "This library only supports esp8266 boards."
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#endif
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class Servo
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{
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public:
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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, int min, int 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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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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private:
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uint8_t _servoIndex; // index into the channel data for this servo
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uint16_t _minUs;
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uint16_t _maxUs;
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};
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#endif
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