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/*
* Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
* Copyright (c) 2014 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#pragma once
#include <string>
#include <mraa/pwm.h>
namespace upm {
#define MIN_PULSE_WIDTH 600
#define MAX_PULSE_WIDTH 2500
#define PERIOD 20000
#define HIGH 1
#define LOW 0
#define DEFAULT_WAIT_DISABLE_PWM 0
/**
* @brief Servo library
*
* The base Servo class provides routines for setting the angle of the shaft
* as well as setting and getting the minimum and maximum pulse width and
* the maximum period.
*
* @defgroup servo libupm-servo
* @ingroup seeed emax pwm servos gsk
*/
class Servo {
public:
/**
* Instantiates a Servo object
*
* @param pin Servo pin number
*/
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 is enabled only during the setAngle() execution
* for a period of 1 second, and then turned back off. If 0, PWM remains on afterward.
*/
Servo (int pin, int minPulseWidth, int maxPulseWidth, int waitAndDisablePwm);
/**
* Servo object destructor
*/
~Servo();
/**
* Sets the angle of the servo engine.
*
* @param angle Number between 0 and 180
* @return 0 if successful, non-zero otherwise
*/
mraa_result_t setAngle (int angle);
/**
* Halts PWM for this servo and allows it to move freely.
*/
mraa_result_t haltPwm ();
/**
* Returns the name of the component
*
* @return Name of the component
*/
std::string name()
{
return m_name;
}
/**
* Sets the minimum pulse width
*
* @param width Minimum HIGH signal width
*/
void setMinPulseWidth (int width);
/**
* Sets the maximum pulse width
*
* @param width Maximum HIGH signal width
*/
void setMaxPulseWidth (int width);
/**
* Sets the maximum period width
*
* @param period PWM period width
*/
void setPeriod (int period);
/**
* Returns the minimum pulse width
*
* @return Minimum pulse width
*/
int getMinPulseWidth ();
/**
* Returns the maximum pulse width
*
* @return Maximum pulse width
*/
int getMaxPulseWidth ();
/**
* Returns the maximum PWM period width
*
* @return Maximum PWM period width
*/
int getPeriod ();
protected:
int calcPulseTraveling (int value);
std::string m_name;
int m_servoPin;
float m_maxAngle;
mraa_pwm_context m_pwmServoContext;
int m_currAngle;
int m_minPulseWidth;
int m_maxPulseWidth;
int m_period;
int m_waitAndDisablePwm;
private:
void init (int pin, int minPulseWidth, int maxPulseWidth, int waitAndDisablePwm);
};
}
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