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96 lines
4.4 KiB
C++
96 lines
4.4 KiB
C++
/*
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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 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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// 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 1000, max is 2000
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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 values are in us (microseconds).
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// Since the defaults can be overwritten in the new attach() member function,
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// they were modified from the Arduino AVR defaults to be in the safe range
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// of publicly available specifications. While this implies that many 180°
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// servos do not operate the full 0° to 180° sweep using these, it also prevents
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// unsuspecting damage. For Arduino AVR, the same change is being discussed.
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#define DEFAULT_MIN_PULSE_WIDTH 1000 // uncalibrated default, the shortest duty cycle sent to a servo
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#define DEFAULT_MAX_PULSE_WIDTH 2000 // uncalibrated default, the longest duty cycle sent to a servo
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#define DEFAULT_NEUTRAL_PULSE_WIDTH 1500 // default duty cycle when servo is attached
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#define REFRESH_INTERVAL 20000 // classic default period to refresh servos in microseconds
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#define MAX_SERVOS 9 // D0-D8
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#if !defined(ESP8266)
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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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~Servo();
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// attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure.
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// returns channel number or 0 if failure.
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uint8_t attach(int pin);
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// attach the given pin to the next free channel, sets pinMode, min, and max values for write().
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// returns channel number or 0 if failure.
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uint8_t attach(int pin, uint16_t min, uint16_t max);
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// attach the given pin to the next free channel, sets pinMode, min, and max values for write(),
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// and sets the initial value, the same as write().
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// returns channel number or 0 if failure.
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uint8_t attach(int pin, uint16_t min, uint16_t max, int value);
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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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static uint32_t _servoMap;
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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 _valueUs;
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};
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#endif
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