/* * Author: Yevgeniy Kiveisha * Abhishek Malik * Copyright (c) 2016 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. */ #ifndef ES08A_H_ #define ES08A_H_ #include #include #include #include "upm.h" #include "mraa/pwm.h" /** * @library servo * @sensor es08a * @comname ES08A Servo * @altname Grove Servo * @type servos * @man emax * @web http://www.seeedstudio.com/wiki/Grove_-_Servo * @con pwm * @kit gsk * * @brief API for the ES08A Servo * * This module defines the ES08A interface for ES08A servos. * Like other servos, the ES08A servo has a shaft that can be controlled * by setting the desired angle. There are also routines for setting * and getting the minimum and maximum pulse width as well as the * maximum period. * * @image html es08a.jpg * @snippet es08a.c Interesting */ #define ES08A_MIN_PULSE_WIDTH 600 #define ES08A_MAX_PULSE_WIDTH 2200 #define ES08A_PERIOD 20000 #define ES08A_MAX_ANGLE 180.0 /** * device context */ typedef struct _es08a_context { mraa_pwm_context pwm; uint16_t servo_pin; uint32_t max_pulse_width; uint32_t min_pulse_width; } *es08a_context; /** * Instantiates a the servo at the given pin * * @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. */ es08a_context es08a_init(int32_t pin, int32_t min_pulse_width, int32_t max_pulse_width); /** * Halts PWM for this servo and allows it to move freely. */ void es08a_halt(es08a_context dev); /** * Sets the angle of the servo engine. * * @param angle Number between 0 and 180 * @return 0 if successful, non-zero otherwise */ upm_result_t es08a_set_angle(es08a_context dev, int32_t angle); /* * Calculating relative pulse time to the value. * */ upm_result_t es08a_calc_pulse_travelling(const es08a_context dev, int32_t* ret_val, int32_t value); /** * Sets the minimum pulse width * * @param width Minimum HIGH signal width */ void es08a_set_min_pulse_width (es08a_context dev, int width); /** * Sets the maximum pulse width * * @param width Maximum HIGH signal width */ void es08a_set_max_pulse_width (es08a_context dev, int width); /** * Returns the minimum pulse width * * @return Minimum pulse width */ int es08a_get_min_pulse_width (es08a_context dev); /** * Returns the maximum pulse width * * @return Maximum pulse width */ int es08a_get_max_pulse_width (es08a_context dev); #endif /* ES08A_H_ */