/* * Author: Yevgeniy Kiveisha * 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 #include 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; } /** * Set min pulse width * * @param width HIGH signal width */ void setMinPulseWidth (int width); /** * Set max pulse width * * @param width HIGH signal width */ void setMaxPulseWidth (int width); /** * Set max period width * * @param width PWM period width */ void setMaxPeriod (int width); /** * Return min pulse width */ int getMinPulseWidth (); /** * Return max pulse width */ int getMaxPulseWidth (); /** * Return max PWM period width */ int getMaxPeriod (); protected: int calcPulseTraveling (int value); std::string m_name; int m_servoPin; float m_maxAngle; maa_pwm_context m_pwmServoContext; int m_currAngle; int m_minPulseWidth; int m_maxPulseWidth; int m_maxPeriod; }; }