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@ -35,7 +35,7 @@ |
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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, angel) - Sequence of attach(pin), write(angel). |
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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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@ -59,7 +59,7 @@ |
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//#define NBR_TIMERS (MAX_SERVOS / SERVOS_PER_TIMER)
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static servo_t servos[MAX_SERVOS]; // static array of servo structures
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static ServoInfo_t servo_info[MAX_SERVOS]; // static array of servo info structures
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static volatile int8_t Channel[_Nbr_16timers ]; // counter for the servo being pulsed for each timer (or -1 if refresh interval)
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uint8_t ServoCount = 0; // the total number of attached servos
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@ -69,7 +69,7 @@ uint8_t ServoCount = 0; // the total number |
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#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
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#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER) // returns the index of the servo on this timer
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#define SERVO_INDEX(_timer,_channel) ((_timer*SERVOS_PER_TIMER) + _channel) // macro to access servo index by timer and channel
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#define SERVO(_timer,_channel) (servos[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
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#define SERVO(_timer,_channel) (servo_info[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
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#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in uS for this servo
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#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in uS for this servo
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@ -232,34 +232,37 @@ static boolean isTimerActive(timer16_Sequence_t timer) { |
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Servo::Servo() { |
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if ( ServoCount < MAX_SERVOS) { |
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this->servoIndex = ServoCount++; // assign a servo index to this instance
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servos[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009
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servo_info[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009
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} |
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else |
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this->servoIndex = INVALID_SERVO; // too many servos
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} |
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uint8_t Servo::attach(int pin) { |
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int8_t Servo::attach(int pin) { |
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return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH); |
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} |
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uint8_t Servo::attach(int pin, int min, int max) { |
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if (this->servoIndex < MAX_SERVOS ) { |
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if(pin > 0) |
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servos[this->servoIndex].Pin.nbr = pin; |
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pinMode(servos[this->servoIndex].Pin.nbr, OUTPUT); // set servo pin to output
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// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
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this->min = (MIN_PULSE_WIDTH - min) / 4; //resolution of min/max is 4 uS
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this->max = (MAX_PULSE_WIDTH - max) / 4; |
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// initialize the timer if it has not already been initialized
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timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex); |
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if (!isTimerActive(timer)) initISR(timer); |
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servos[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
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} |
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int8_t Servo::attach(int pin, int min, int max) { |
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if (this->servoIndex >= MAX_SERVOS) return -1; |
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if (pin > 0) servo_info[this->servoIndex].Pin.nbr = pin; |
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pinMode(servo_info[this->servoIndex].Pin.nbr, OUTPUT); // set servo pin to output
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// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
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this->min = (MIN_PULSE_WIDTH - min) / 4; //resolution of min/max is 4 uS
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this->max = (MAX_PULSE_WIDTH - max) / 4; |
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// initialize the timer if it has not already been initialized
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timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex); |
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if (!isTimerActive(timer)) initISR(timer); |
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servo_info[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
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return this->servoIndex; |
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} |
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void Servo::detach() { |
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servos[this->servoIndex].Pin.isActive = false; |
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servo_info[this->servoIndex].Pin.isActive = false; |
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timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex); |
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if (!isTimerActive(timer)) finISR(timer); |
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} |
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@ -287,7 +290,7 @@ void Servo::writeMicroseconds(int value) { |
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uint8_t oldSREG = SREG; |
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cli(); |
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servos[channel].ticks = value; |
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servo_info[channel].ticks = value; |
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SREG = oldSREG; |
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} |
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} |
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@ -296,17 +299,21 @@ void Servo::writeMicroseconds(int value) { |
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int Servo::read() { return map( this->readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180); } |
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int Servo::readMicroseconds() { |
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return (this->servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servos[this->servoIndex].ticks) + TRIM_DURATION; |
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return (this->servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servo_info[this->servoIndex].ticks) + TRIM_DURATION; |
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} |
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bool Servo::attached() { return servos[this->servoIndex].Pin.isActive; } |
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bool Servo::attached() { return servo_info[this->servoIndex].Pin.isActive; } |
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uint8_t Servo::move(int pin, int value) { |
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uint8_t ret; |
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ret = this->attach(pin); |
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if (ret) { |
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int8_t Servo::move(int pin, int value) { |
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int8_t ret; |
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#if SERVO_LEVELING |
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ret = this->attach(pin); |
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#else |
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ret = this->servoIndex; |
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#endif |
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if (ret >= 0) { |
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this->write(value); |
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#ifdef DEACTIVATE_SERVOS_AFTER_MOVE && (SERVO_DEACTIVATION_DELAY > 0) |
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#if SERVO_LEVELING |
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delay(SERVO_DEACTIVATION_DELAY); |
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this->detach(); |
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#endif |
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