136 lines
3.6 KiB
C++
136 lines
3.6 KiB
C++
/*
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* Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
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* Copyright (c) 2014 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#pragma once
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#include <string>
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#include <mraa/pwm.h>
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namespace upm {
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#define MIN_PULSE_WIDTH 600
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#define MAX_PULSE_WIDTH 2500
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#define MAX_PERIOD 7968
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#define HIGH 1
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#define LOW 0
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/**
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* @brief C++ API for servo libraries
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*
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* The base class Servo provides routines for setting the angle of the shaft
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* as well as setting and getting the minimum and maximum pulse width and
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* the maximum period.
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*
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* @defgroup servo libupm-servo
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*/
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class Servo {
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public:
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/**
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* Instantiates a servo object
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*
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* @param pin servo pin number
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*/
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Servo (int pin);
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/**
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* Servo object destructor.
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*/
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~Servo();
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/**
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* Set the angle of the servo engine.
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*
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* @param angle number between 0 and 180
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* @return 0 on success; non-zero otherwise
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*/
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mraa_result_t setAngle (int angle);
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/**
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* Return name of the component
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*
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* @return name of the component
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*/
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std::string name()
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{
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return m_name;
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}
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/**
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* Set minimum pulse width
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*
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* @param width minimum HIGH signal width
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*/
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void setMinPulseWidth (int width);
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/**
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* Set maximum pulse width
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*
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* @param width maximum HIGH signal width
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*/
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void setMaxPulseWidth (int width);
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/**
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* Set maximum period width
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*
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* @param width maximum PWM period width
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*/
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void setMaxPeriod (int width);
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/**
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* Return minimum pulse width
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*
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* @return minimum pulse width
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*/
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int getMinPulseWidth ();
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/**
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* Return maximum pulse width
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*
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* @return maximum pulse width
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*/
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int getMaxPulseWidth ();
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/**
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* Return maximum PWM period width
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*
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* @return maximum PWM period width
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*/
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int getMaxPeriod ();
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protected:
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int calcPulseTraveling (int value);
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std::string m_name;
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int m_servoPin;
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float m_maxAngle;
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mraa_pwm_context m_pwmServoContext;
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int m_currAngle;
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int m_minPulseWidth;
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int m_maxPulseWidth;
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int m_maxPeriod;
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};
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}
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