upm/src/servo/servo.h

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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 <maa/pwm.h>
namespace upm {
#define MIN_PULSE_WIDTH 600
#define MAX_PULSE_WIDTH 2500
#define MAX_PERIOD 7968
#define HIGH 1
#define LOW 0
/**
* @brief Base class for other servo components
*
* PMOD pins for MAX44000PMB1 board
*
*/
class Servo {
public:
/**
* Instanciates a servo object
*
* @param pin servo pin number
*/
Servo (int pin);
/**
* Servo object destructor.
*/
~Servo();
/**
* Set the of the servo engine.
*
* X = between (MIN_PULSE_WIDTH , MAX_PULSE_WIDTH)
*
* X usec
* _______
* |_______________________________________
* 20000 usec
*
* Max period can be only 7968750(nses) which is ~8(msec)
* so the servo will not work as expected.
*
* @param angle number between 0 and 180
*/
maa_result_t setAngle (int angle);
/**
* Return name of the component
*/
std::string name()
{
return m_name;
}
protected:
int calcPulseTraveling (int value);
std::string m_name;
int m_servoPin;
float m_maxAngle;
maa_pwm_context m_pwmServoContext;
// maa_gpio_context m_servoPinCtx;
};
}