bendns' repos / ArduinoStuff
arduino stuffs
Diffstat (limited to 'libraries/Servo/src/mbed/Servo.cpp')
-rw-r--r--libraries/Servo/src/mbed/Servo.cpp139
1 files changed, 0 insertions, 139 deletions
diff --git a/libraries/Servo/src/mbed/Servo.cpp b/libraries/Servo/src/mbed/Servo.cpp
deleted file mode 100644
index efb67f9..0000000
--- a/libraries/Servo/src/mbed/Servo.cpp
+++ /dev/null
@@ -1,139 +0,0 @@
-#if defined(ARDUINO_ARCH_MBED)
-
-#include <Arduino.h>
-#include <Servo.h>
-#include <mbed.h>
-
-#if defined __has_include
-# if __has_include ("pinDefinitions.h")
-# include "pinDefinitions.h"
-# endif
-#endif
-
-class ServoImpl {
- mbed::DigitalOut *pin;
- mbed::Timeout timeout; // calls a callback once when a timeout expires
- mbed::Ticker ticker; // calls a callback repeatedly with a timeout
-
-public:
- ServoImpl(PinName _pin) {
- pin = new mbed::DigitalOut(_pin);
- }
-
- ~ServoImpl() {
- ticker.detach();
- timeout.detach();
- delete pin;
- }
-
- void start(uint32_t duration_us) {
- duration = duration_us;
- ticker.attach(mbed::callback(this, &ServoImpl::call), 0.02f);
- }
-
- void call() {
- timeout.attach(mbed::callback(this, &ServoImpl::toggle), duration / 1e6);
- toggle();
- }
-
- void toggle() {
- *pin = !*pin;
- }
-
- int32_t duration = -1;
-};
-
-static ServoImpl* servos[MAX_SERVOS]; // static array of servo structures
-uint8_t ServoCount = 0; // the total number of attached servos
-
-#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min) // minimum value in us for this servo
-#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max) // maximum value in us for this servo
-
-#define TRIM_DURATION 15 //callback overhead (35 us) -> 15 us if toggle() is called after starting the timeout
-
-Servo::Servo()
-{
- if (ServoCount < MAX_SERVOS) {
- this->servoIndex = ServoCount++;
- } else {
- this->servoIndex = INVALID_SERVO; // too many servos
- }
-}
-
-uint8_t Servo::attach(int pin)
-{
- return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
-}
-
-uint8_t Servo::attach(int pin, int min, int max)
-{
- pinMode(pin, OUTPUT); // set servo pin to output
- servos[this->servoIndex] = new ServoImpl(digitalPinToPinName(pin));
-
- this->min = (MIN_PULSE_WIDTH - min);
- this->max = (MAX_PULSE_WIDTH - max);
- return this->servoIndex;
-}
-
-void Servo::detach()
-{
- delete servos[this->servoIndex];
- servos[this->servoIndex] = NULL;
-}
-
-void Servo::write(int value)
-{
- // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
- if (value < MIN_PULSE_WIDTH)
- {
- if (value < 0)
- value = 0;
- else if (value > 180)
- value = 180;
-
- value = map(value, 0, 180, SERVO_MIN(), SERVO_MAX());
- }
- writeMicroseconds(value);
-}
-
-void Servo::writeMicroseconds(int value)
-{
- if (!servos[this->servoIndex]) {
- return;
- }
- // calculate and store the values for the given channel
- byte channel = this->servoIndex;
- if( (channel < MAX_SERVOS) ) // ensure channel is valid
- {
- if (value < SERVO_MIN()) // ensure pulse width is valid
- value = SERVO_MIN();
- else if (value > SERVO_MAX())
- value = SERVO_MAX();
-
- value = value - TRIM_DURATION;
- if (servos[this->servoIndex]->duration == -1) {
- servos[this->servoIndex]->start(value);
- }
- servos[this->servoIndex]->duration = value;
- }
-}
-
-int Servo::read() // return the value as degrees
-{
- return map(readMicroseconds(), SERVO_MIN(), SERVO_MAX(), 0, 180);
-}
-
-int Servo::readMicroseconds()
-{
- if (!servos[this->servoIndex]) {
- return 0;
- }
- return servos[this->servoIndex]->duration;
-}
-
-bool Servo::attached()
-{
- return servos[this->servoIndex] != NULL;
-}
-
-#endif