mirror of
https://github.com/MarlinFirmware/Marlin.git
synced 2024-12-13 22:11:38 +00:00
114 lines
5.2 KiB
C++
114 lines
5.2 KiB
C++
/**
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|
*
|
|
* Based on Sprinter and grbl.
|
|
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
|
*
|
|
* This program is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*
|
|
*/
|
|
|
|
/**
|
|
* servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
|
|
* Copyright (c) 2009 Michael Margolis. All right reserved.
|
|
*
|
|
* This library is free software; you can redistribute it and/or
|
|
* modify it under the terms of the GNU Lesser General Public
|
|
* License as published by the Free Software Foundation; either
|
|
* version 2.1 of the License, or (at your option) any later version.
|
|
*
|
|
* This library is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
|
* Lesser General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU Lesser General Public
|
|
* License along with this library; if not, write to the Free Software
|
|
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
|
*/
|
|
|
|
/**
|
|
*
|
|
* A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
|
|
* The servos are pulsed in the background using the value most recently written using the write() method
|
|
*
|
|
* Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
|
|
* Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
|
|
* The sequence used to seize timers is defined in timers.h
|
|
*
|
|
* The methods are:
|
|
*
|
|
* Servo - Class for manipulating servo motors connected to Arduino pins.
|
|
*
|
|
* attach(pin ) - Attaches a servo motor to an i/o pin.
|
|
* attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds
|
|
* default min is 544, max is 2400
|
|
*
|
|
* write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
|
|
* writeMicroseconds() - Sets the servo pulse width in microseconds
|
|
* read() - Gets the last written servo pulse width as an angle between 0 and 180.
|
|
* readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
|
|
* attached() - Returns true if there is a servo attached.
|
|
* detach() - Stops an attached servos from pulsing its i/o pin.
|
|
* move(angle) - Sequence of attach(0), write(angle),
|
|
* With DEACTIVATE_SERVOS_AFTER_MOVE wait SERVO_DELAY and detach.
|
|
*/
|
|
|
|
#ifndef SERVO_H
|
|
#define SERVO_H
|
|
|
|
#if IS_32BIT_TEENSY
|
|
#include "HAL_TEENSY35_36/HAL_Servo_Teensy.h" // Teensy HAL uses an inherited library
|
|
|
|
#elif defined(TARGET_LPC1768)
|
|
#include "HAL_LPC1768/LPC1768_Servo.h"
|
|
#elif defined(STM32F4)
|
|
#include "HAL_STM32F4/HAL_Servo_STM32F4.h"
|
|
#else
|
|
#include <stdint.h>
|
|
|
|
#if defined(__AVR__) || defined(ARDUINO_ARCH_SAM)
|
|
// we're good to go
|
|
#else
|
|
#error "This library only supports boards with an AVR or SAM3X processor."
|
|
#endif
|
|
|
|
#define Servo_VERSION 2 // software version of this library
|
|
|
|
class Servo {
|
|
public:
|
|
Servo();
|
|
int8_t attach(const int pin); // attach the given pin to the next free channel, set pinMode, return channel number (-1 on fail)
|
|
int8_t attach(const int pin, const int min, const int max); // as above but also sets min and max values for writes.
|
|
void detach();
|
|
void write(int value); // if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
|
|
void writeMicroseconds(int value); // write pulse width in microseconds
|
|
void move(const int value); // attach the servo, then move to value
|
|
// if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
|
|
// if DEACTIVATE_SERVOS_AFTER_MOVE wait SERVO_DELAY, then detach
|
|
int read(); // returns current pulse width as an angle between 0 and 180 degrees
|
|
int readMicroseconds(); // returns current pulse width in microseconds for this servo (was read_us() in first release)
|
|
bool attached(); // return true if this servo is attached, otherwise false
|
|
|
|
private:
|
|
uint8_t servoIndex; // index into the channel data for this servo
|
|
int8_t min; // minimum is this value times 4 added to MIN_PULSE_WIDTH
|
|
int8_t max; // maximum is this value times 4 added to MAX_PULSE_WIDTH
|
|
};
|
|
|
|
#endif
|
|
|
|
#endif // SERVO_H
|