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Fix Servo library so that it correctly moves to the given angle.

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Signed-off-by: John Van Drasek <john.r.van.drasek@intel.com>
This commit is contained in:
Chris Sarbora
2015-02-12 16:28:13 -08:00
committed by John Van Drasek
parent 73be07df74
commit e0e9405634
2 changed files with 89 additions and 37 deletions
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50
src/servo/servo.h
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@@ -28,12 +28,14 @@
namespace upm {
#define MIN_PULSE_WIDTH 600
#define MAX_PULSE_WIDTH 2500
#define MAX_PERIOD 7968
#define MIN_PULSE_WIDTH 600
#define MAX_PULSE_WIDTH 2500
#define PERIOD 20000
#define HIGH 1
#define LOW 0
#define HIGH 1
#define LOW 0
#define DEFAULT_WAIT_DISABLE_PWM 0
/**
* @brief C++ API for servo libraries
@@ -53,6 +55,26 @@ class Servo {
*/
Servo (int pin);
/**
* Instantiates a servo object
*
* @param pin servo pin number
* @param minPulseWidth minimum pulse width, in microseconds
* @param maxPulseWidth maximum pulse width, in microseconds
*/
Servo (int pin, int minPulseWidth, int maxPulseWidth);
/**
* Instantiates a servo object
*
* @param pin servo pin number
* @param minPulseWidth minimum pulse width, in microseconds
* @param maxPulseWidth maximum pulse width, in microseconds
* @param waitAndDisablePwm if 1, PWM will be enabled only during setAngle() execution
* for a period of 1 second, and then turned back off. If 0, PWM will remain on afterward.
*/
Servo (int pin, int minPulseWidth, int maxPulseWidth, int waitAndDisablePwm);
/**
* Servo object destructor.
*/
@@ -66,6 +88,11 @@ class Servo {
*/
mraa_result_t setAngle (int angle);
/**
* Halts PWM for this servo and allows it to move freely.
*/
mraa_result_t haltPwm ();
/**
* Return name of the component
*
@@ -93,9 +120,9 @@ class Servo {
/**
* Set maximum period width
*
* @param width maximum PWM period width
* @param period PWM period width
*/
void setMaxPeriod (int width);
void setPeriod (int period);
/**
* Return minimum pulse width
@@ -116,7 +143,7 @@ class Servo {
*
* @return maximum PWM period width
*/
int getMaxPeriod ();
int getPeriod ();
protected:
int calcPulseTraveling (int value);
@@ -129,7 +156,12 @@ class Servo {
int m_minPulseWidth;
int m_maxPulseWidth;
int m_maxPeriod;
int m_period;
int m_waitAndDisablePwm;
private:
void init (int pin, int minPulseWidth, int maxPulseWidth, int waitAndDisablePwm);
};
}