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@ -21,50 +21,35 @@ |
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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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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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* 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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*/ |
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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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The servos are pulsed in the background using the value most recently written using the write() method |
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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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The methods are: |
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Servo - Class for manipulating servo motors connected to Arduino pins. |
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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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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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move(pin, angle) - Sequence of attach(pin), write(angle). |
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With DEACTIVATE_SERVOS_AFTER_MOVE it waits SERVO_DEACTIVATION_DELAY and detaches. |
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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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*/ |
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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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* |
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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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* |
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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) - Attach 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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* 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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* writeMicroseconds() - Set 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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* With DEACTIVATE_SERVOS_AFTER_MOVE it detaches after SERVO_DELAY. |
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* read() - Get 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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* attached() - Return true if a servo is attached. |
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* detach() - Stop an attached servo from pulsing its i/o pin. |
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* |
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*/ |
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#include "Configuration.h" |
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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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#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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UNUSED(timer); |
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#endif |
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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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if (this->attach(0) >= 0) { |
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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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delay(SERVO_DEACTIVATION_DELAY); |
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this->detach(); |
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#endif |
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} |
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Scott Lahteine
9 years ago