62 lines
2.6 KiB
C++
62 lines
2.6 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* The class Servo uses the PWM class to implement its functions
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*
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* The PWM1 module is only used to generate interrups at specified times. It
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* is NOT used to directly toggle pins. The ISR writes to the pin assigned to
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* that interrupt
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*
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* All PWMs use the same repetition rate - 20mS because that's the normal servo rate
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*
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*/
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#ifndef LPC1768_SERVO_H
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#define LPC1768_SERVO_H
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#include <stdint.h>
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class Servo {
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public:
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Servo();
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int8_t attach(const int pin); // attach the given pin to the next free channel, set pinMode, return channel number (-1 on fail)
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int8_t attach(const int pin, const int min, const int max); // as above but also sets min and max values for writes.
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void detach();
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void write(int value); // if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
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void writeMicroseconds(int value); // write pulse width in microseconds
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void move(const int value); // attach the servo, then move to value
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// if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
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// if DEACTIVATE_SERVOS_AFTER_MOVE wait SERVO_DELAY, then detach
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int read(); // returns current pulse width as an angle between 0 and 180 degrees
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int readMicroseconds(); // returns current pulse width in microseconds for this servo (was read_us() in first release)
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bool attached(); // return true if this servo is attached, otherwise false
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private:
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uint8_t servoIndex; // index into the channel data for this servo
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int min;
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int max;
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};
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#define HAL_SERVO_LIB Servo
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#endif // LPC1768_SERVO_H
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