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@SpenceKonde
SpenceKonde committed Jul 4, 2022
1 parent 7f7cd4e commit e1cd63d
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Showing 2 changed files with 305 additions and 312 deletions.
110 changes: 54 additions & 56 deletions avr/libraries/Servo/src/Servo.h
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Original file line number Diff line number Diff line change
Expand Up @@ -65,62 +65,61 @@

#define Servo_VERSION 2 // software version of this library
#ifndef MIN_PULSE_WIDTH // Let the user set min/max pulse lengths
#if (F_CPU==16500000L)
#define MIN_PULSE_WIDTH 561 // 1/32nd longer
#else
#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
#endif
#if (F_CPU==16500000L)
#define MIN_PULSE_WIDTH 561 // 1/32nd longer
#else
#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
#endif
#endif
#ifndef MAX_PULSE_WIDTH // Let the user set min/max pulse lengths
#if (F_CPU==16500000L)
#define MAX_PULSE_WIDTH 2475 // 1/32nd longer
#else
#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo
#endif
#if (F_CPU==16500000L)
#define MAX_PULSE_WIDTH 2475 // 1/32nd longer
#else
#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo
#endif
#endif
#define MAX_SERVOS 5
#define INVALID_SERVO 255

class Servo
{
public:
Servo();
~Servo();
uint8_t attach(uint8_t pin); // attach the given pin to the next free channel, returns channel number or 0 if failure
uint8_t attach(uint8_t pin, uint16_t newMin, uint16_t newMax); // as above but also sets min and max values for writes.
void detach();

void write(uint16_t value); // if value is < 200 its treated as an angle, otherwise as pulse width in microseconds
void writeMicroseconds(uint16_t value); // Write pulse width in microseconds
uint16_t read(); // returns current pulse width as an angle between 0 and 180 degrees
uint16_t readMicroseconds(); // returns current pulse width in microseconds for this servo
bool attached(); // return true if this servo is attached, otherwise false

private:

//private variables
uint8_t servoIndex; // Our ID number that we get from the ServoSequencer after we register with it
uint16_t min; // minimum pulse length that corresponds to the angle of 0 degrees
uint16_t max; // maximum pulse length that corresponds to the angle of 180 degrees

//our own map function, so that we don't have to get it from some library
class Servo {
public:
Servo();
~Servo();
uint8_t attach(uint8_t pin); // attach the given pin to the next free channel, returns channel number or 0 if failure
uint8_t attach(uint8_t pin, uint16_t newMin, uint16_t newMax); // as above but also sets min and max values for writes.
void detach();

void write(uint16_t value); // if value is < 200 its treated as an angle, otherwise as pulse width in microseconds
void writeMicroseconds(uint16_t value); // Write pulse width in microseconds
uint16_t read(); // returns current pulse width as an angle between 0 and 180 degrees
uint16_t readMicroseconds(); // returns current pulse width in microseconds for this servo
bool attached(); // return true if this servo is attached, otherwise false

private:

//private variables
uint8_t servoIndex; // Our ID number that we get from the ServoSequencer after we register with it
uint16_t min; // minimum pulse length that corresponds to the angle of 0 degrees
uint16_t max; // maximum pulse length that corresponds to the angle of 180 degrees

//our own map function, so that we don't have to get it from some library
};


#else

#include "avr/ServoTimers.h"

#define Servo_VERSION 2 // software version of this library
#define Servo_VERSION 2 // software version of this library

#ifndef MIN_PULSE_WIDTH // Let the user set min/max pulse lengths
#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
#ifndef MIN_PULSE_WIDTH // Let the user set min/max pulse lengths
#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
#endif
#ifndef MAX_PULSE_WIDTH // Let the user set min/max pulse lengths
#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo
#ifndef MAX_PULSE_WIDTH // Let the user set min/max pulse lengths
#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo
#endif
#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached
#define REFRESH_INTERVAL 20000 // minumim time to refresh servos in microseconds
#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached
#define REFRESH_INTERVAL 20000 // minumim time to refresh servos in microseconds

#define SERVOS_PER_TIMER 12 // the maximum number of servos controlled by one timer
#define MAX_SERVOS (_Nbr_16timers * SERVOS_PER_TIMER)
Expand All @@ -137,22 +136,21 @@ typedef struct {
volatile unsigned int ticks;
} servo_t;

class Servo
{
public:
Servo();
uint8_t attach(int pin); // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure
uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes.
void detach();
void write(int value); // if value is < 200 its treated as an angle, otherwise as pulse width in microseconds
void writeMicroseconds(int value); // Write pulse width in microseconds
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
class Servo {
public:
Servo();
uint8_t attach(int pin); // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure
uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes.
void detach();
void write(int value); // if value is < 200 its treated as an angle, otherwise as pulse width in microseconds
void writeMicroseconds(int value); // Write pulse width in microseconds
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 //end of non-8-bit avr servo header

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