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Servo library to the new format
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@ -1,155 +0,0 @@
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/*
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Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
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Copyright (c) 2009 Michael Margolis. All right reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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/*
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A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
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The servos are pulsed in the background using the value most recently written using the write() method
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Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
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Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
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The sequence used to sieze timers is defined in timers.h
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The methods are:
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Servo - Class for manipulating servo motors connected to Arduino pins.
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attach(pin ) - Attaches a servo motor to an i/o pin.
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attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds
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default min is 544, max is 2400
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write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
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writeMicroseconds() - Sets the servo pulse width in microseconds
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read() - Gets the last written servo pulse width as an angle between 0 and 180.
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readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
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attached() - Returns true if there is a servo attached.
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detach() - Stops an attached servos from pulsing its i/o pin.
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*/
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#ifndef Servo_h
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#define Servo_h
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#include <inttypes.h>
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/*
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* Defines for 16 bit timers used with Servo library
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*
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* If _useTimerX is defined then TimerX is a 16 bit timer on the current board
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* timer16_Sequence_t enumerates the sequence that the timers should be allocated
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* _Nbr_16timers indicates how many 16 bit timers are available.
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*/
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// For SAM3X:
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#define _useTimer1
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#define _useTimer2
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#define _useTimer3
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#define _useTimer4
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#define _useTimer5
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/*
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TC0, chan 0 => TC0_Handler
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TC0, chan 1 => TC1_Handler
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TC0, chan 2 => TC2_Handler
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TC1, chan 0 => TC3_Handler
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TC1, chan 1 => TC4_Handler
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TC1, chan 2 => TC5_Handler
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TC2, chan 0 => TC6_Handler
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TC2, chan 1 => TC7_Handler
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TC2, chan 2 => TC8_Handler
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*/
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#if defined (_useTimer1)
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#define TC_FOR_TIMER1 TC1
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#define CHANNEL_FOR_TIMER1 0
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#define ID_TC_FOR_TIMER1 ID_TC3
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#define IRQn_FOR_TIMER1 TC3_IRQn
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#define HANDLER_FOR_TIMER1 TC3_Handler
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#endif
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#if defined (_useTimer2)
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#define TC_FOR_TIMER2 TC1
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#define CHANNEL_FOR_TIMER2 1
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#define ID_TC_FOR_TIMER2 ID_TC4
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#define IRQn_FOR_TIMER2 TC4_IRQn
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#define HANDLER_FOR_TIMER2 TC4_Handler
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#endif
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#if defined (_useTimer3)
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#define TC_FOR_TIMER3 TC1
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#define CHANNEL_FOR_TIMER3 2
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#define ID_TC_FOR_TIMER3 ID_TC5
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#define IRQn_FOR_TIMER3 TC5_IRQn
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#define HANDLER_FOR_TIMER3 TC5_Handler
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#endif
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#if defined (_useTimer4)
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#define TC_FOR_TIMER4 TC0
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#define CHANNEL_FOR_TIMER4 2
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#define ID_TC_FOR_TIMER4 ID_TC2
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#define IRQn_FOR_TIMER4 TC2_IRQn
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#define HANDLER_FOR_TIMER4 TC2_Handler
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#endif
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#if defined (_useTimer5)
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#define TC_FOR_TIMER5 TC0
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#define CHANNEL_FOR_TIMER5 0
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#define ID_TC_FOR_TIMER5 ID_TC0
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#define IRQn_FOR_TIMER5 TC0_IRQn
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#define HANDLER_FOR_TIMER5 TC0_Handler
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#endif
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typedef enum { _timer1, _timer2, _timer3, _timer4, _timer5, _Nbr_16timers } timer16_Sequence_t ;
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#define Servo_VERSION 2 // software version of this library
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#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo (0.544ms)
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#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo (2,4ms)
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#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached (1.5ms)
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#define REFRESH_INTERVAL 20000 // minimum time to refresh servos in microseconds (20ms)
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#define SERVOS_PER_TIMER 12 // the maximum number of servos controlled by one timer
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#define MAX_SERVOS (_Nbr_16timers * SERVOS_PER_TIMER)
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#define INVALID_SERVO 255 // flag indicating an invalid servo index
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typedef struct {
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uint8_t nbr :6 ; // a pin number from 0 to 63
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uint8_t isActive :1 ; // true if this channel is enabled, pin not pulsed if false
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} ServoPin_t ;
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typedef struct {
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ServoPin_t Pin;
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volatile unsigned int ticks;
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} servo_t;
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class Servo
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{
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public:
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Servo();
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uint8_t attach(int pin); // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure
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uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes.
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void detach();
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void write(int value); // if value is < 200 its treated as an angle, otherwise as pulse width in microseconds
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void writeMicroseconds(int value); // Write pulse width in microseconds
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int read(); // returns current pulse width as an angle between 0 and 180 degrees
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int readMicroseconds(); // returns current pulse width in microseconds for this servo (was read_us() in first release)
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bool attached(); // return true if this servo is attached, otherwise false
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private:
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uint8_t servoIndex; // index into the channel data for this servo
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int8_t min; // minimum is this value times 4 added to MIN_PULSE_WIDTH
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int8_t max; // maximum is this value times 4 added to MAX_PULSE_WIDTH
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};
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#endif
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@ -1,22 +0,0 @@
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// Controlling a servo position using a potentiometer (variable resistor)
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// by Michal Rinott <http://people.interaction-ivrea.it/m.rinott>
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#include <Servo.h>
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Servo myservo; // create servo object to control a servo
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int potpin = 0; // analog pin used to connect the potentiometer
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int val; // variable to read the value from the analog pin
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void setup()
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{
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myservo.attach(9); // attaches the servo on pin 9 to the servo object
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}
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void loop()
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{
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val = analogRead(potpin); // reads the value of the potentiometer (value between 0 and 1023)
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val = map(val, 0, 1023, 0, 179); // scale it to use it with the servo (value between 0 and 180)
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myservo.write(val); // sets the servo position according to the scaled value
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delay(15); // waits for the servo to get there
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}
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@ -1,31 +0,0 @@
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// Sweep
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// by BARRAGAN <http://barraganstudio.com>
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// This example code is in the public domain.
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#include <Servo.h>
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Servo myservo; // create servo object to control a servo
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// a maximum of eight servo objects can be created
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int pos = 0; // variable to store the servo position
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void setup()
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{
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myservo.attach(9); // attaches the servo on pin 9 to the servo object
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}
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void loop()
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{
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for(pos = 0; pos < 180; pos += 1) // goes from 0 degrees to 180 degrees
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{ // in steps of 1 degree
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myservo.write(pos); // tell servo to go to position in variable 'pos'
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delay(15); // waits 15ms for the servo to reach the position
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}
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for(pos = 180; pos>=1; pos-=1) // goes from 180 degrees to 0 degrees
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{
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myservo.write(pos); // tell servo to go to position in variable 'pos'
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delay(15); // waits 15ms for the servo to reach the position
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}
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}
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@ -1,24 +0,0 @@
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#######################################
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# Syntax Coloring Map Servo
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#######################################
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#######################################
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# Datatypes (KEYWORD1)
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#######################################
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Servo KEYWORD1
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#######################################
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# Methods and Functions (KEYWORD2)
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#######################################
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attach KEYWORD2
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detach KEYWORD2
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write KEYWORD2
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read KEYWORD2
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attached KEYWORD2
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writeMicroseconds KEYWORD2
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readMicroseconds KEYWORD2
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#######################################
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# Constants (LITERAL1)
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#######################################
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@ -17,31 +17,6 @@
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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/*
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A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
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The servos are pulsed in the background using the value most recently written using the write() method
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Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
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Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
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The methods are:
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Servo - Class for manipulating servo motors connected to Arduino pins.
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attach(pin ) - Attaches a servo motor to an i/o pin.
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attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds
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default min is 544, max is 2400
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write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
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writeMicroseconds() - Sets the servo pulse width in microseconds
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read() - Gets the last written servo pulse width as an angle between 0 and 180.
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readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
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attached() - Returns true if there is a servo attached.
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detach() - Stops an attached servos from pulsing its i/o pin.
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*/
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#include <avr/interrupt.h>
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#include <Arduino.h>
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@ -100,28 +75,28 @@ static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t
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#ifndef WIRING // Wiring pre-defines signal handlers so don't define any if compiling for the Wiring platform
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// Interrupt handlers for Arduino
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#if defined(_useTimer1)
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ISR(TIMER1_COMPA_vect)
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SIGNAL (TIMER1_COMPA_vect)
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{
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handle_interrupts(_timer1, &TCNT1, &OCR1A);
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}
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#endif
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#if defined(_useTimer3)
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ISR(TIMER3_COMPA_vect)
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SIGNAL (TIMER3_COMPA_vect)
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{
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handle_interrupts(_timer3, &TCNT3, &OCR3A);
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}
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#endif
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#if defined(_useTimer4)
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ISR(TIMER4_COMPA_vect)
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SIGNAL (TIMER4_COMPA_vect)
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{
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handle_interrupts(_timer4, &TCNT4, &OCR4A);
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}
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#endif
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#if defined(_useTimer5)
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ISR(TIMER5_COMPA_vect)
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SIGNAL (TIMER5_COMPA_vect)
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{
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handle_interrupts(_timer5, &TCNT5, &OCR5A);
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}
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@ -335,3 +310,4 @@ bool Servo::attached()
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{
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return servos[this->servoIndex].Pin.isActive ;
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}
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59
libraries/Servo/arch/avr/ServoTimers.h
Normal file
59
libraries/Servo/arch/avr/ServoTimers.h
Normal file
@ -0,0 +1,59 @@
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/*
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Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
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Copyright (c) 2009 Michael Margolis. All right reserved.
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This library is free software; you can redistribute it and/or
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||||
modify it under the terms of the GNU Lesser General Public
|
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License as published by the Free Software Foundation; either
|
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version 2.1 of the License, or (at your option) any later version.
|
||||
|
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This library is distributed in the hope that it will be useful,
|
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but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
Lesser General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU Lesser General Public
|
||||
License along with this library; if not, write to the Free Software
|
||||
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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/*
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* Defines for 16 bit timers used with Servo library
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*
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* If _useTimerX is defined then TimerX is a 16 bit timer on the current board
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* timer16_Sequence_t enumerates the sequence that the timers should be allocated
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* _Nbr_16timers indicates how many 16 bit timers are available.
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*/
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/**
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* AVR Only definitions
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* --------------------
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*/
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// Say which 16 bit timers can be used and in what order
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#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
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#define _useTimer5
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#define _useTimer1
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#define _useTimer3
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#define _useTimer4
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typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
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#elif defined(__AVR_ATmega32U4__)
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#define _useTimer1
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typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
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#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
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#define _useTimer3
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#define _useTimer1
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typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
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#elif defined(__AVR_ATmega128__) ||defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
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#define _useTimer3
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#define _useTimer1
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typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
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#else // everything else
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#define _useTimer1
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typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
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#endif
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@ -1,5 +1,5 @@
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/*
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Servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
|
||||
Servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers - Version 2
|
||||
Copyright (c) 2009 Michael Margolis. All right reserved.
|
||||
|
||||
This library is free software; you can redistribute it and/or
|
||||
@ -17,32 +17,8 @@
|
||||
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
*/
|
||||
|
||||
/*
|
||||
A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
|
||||
The servos are pulsed in the background using the value most recently written using the write() method
|
||||
|
||||
Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
|
||||
Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
|
||||
|
||||
The methods are:
|
||||
|
||||
Servo - Class for manipulating servo motors connected to Arduino pins.
|
||||
|
||||
attach(pin ) - Attaches a servo motor to an i/o pin.
|
||||
attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds
|
||||
default min is 544, max is 2400
|
||||
|
||||
write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
|
||||
writeMicroseconds() - Sets the servo pulse width in microseconds
|
||||
read() - Gets the last written servo pulse width as an angle between 0 and 180.
|
||||
readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
|
||||
attached() - Returns true if there is a servo attached.
|
||||
detach() - Stops an attached servos from pulsing its i/o pin.
|
||||
|
||||
*/
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#include <Arduino.h>
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#include "Servo.h"
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#include <Servo.h>
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#define usToTicks(_us) (( clockCyclesPerMicrosecond() * _us) / 32) // converts microseconds to tick
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#define ticksToUs(_ticks) (( (unsigned)_ticks * 32)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds
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@ -306,5 +282,3 @@ bool Servo::attached()
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return servos[this->servoIndex].Pin.isActive;
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}
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89
libraries/Servo/arch/sam/ServoTimers.h
Normal file
89
libraries/Servo/arch/sam/ServoTimers.h
Normal file
@ -0,0 +1,89 @@
|
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/*
|
||||
Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
|
||||
Copyright (c) 2009 Michael Margolis. All right reserved.
|
||||
|
||||
This library is free software; you can redistribute it and/or
|
||||
modify it under the terms of the GNU Lesser General Public
|
||||
License as published by the Free Software Foundation; either
|
||||
version 2.1 of the License, or (at your option) any later version.
|
||||
|
||||
This library is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
Lesser General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU Lesser General Public
|
||||
License along with this library; if not, write to the Free Software
|
||||
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
*/
|
||||
|
||||
/*
|
||||
* Defines for 16 bit timers used with Servo library
|
||||
*
|
||||
* If _useTimerX is defined then TimerX is a 16 bit timer on the current board
|
||||
* timer16_Sequence_t enumerates the sequence that the timers should be allocated
|
||||
* _Nbr_16timers indicates how many 16 bit timers are available.
|
||||
*/
|
||||
|
||||
/**
|
||||
* SAM Only definitions
|
||||
* --------------------
|
||||
*/
|
||||
|
||||
// For SAM3X:
|
||||
#define _useTimer1
|
||||
#define _useTimer2
|
||||
#define _useTimer3
|
||||
#define _useTimer4
|
||||
#define _useTimer5
|
||||
|
||||
/*
|
||||
TC0, chan 0 => TC0_Handler
|
||||
TC0, chan 1 => TC1_Handler
|
||||
TC0, chan 2 => TC2_Handler
|
||||
TC1, chan 0 => TC3_Handler
|
||||
TC1, chan 1 => TC4_Handler
|
||||
TC1, chan 2 => TC5_Handler
|
||||
TC2, chan 0 => TC6_Handler
|
||||
TC2, chan 1 => TC7_Handler
|
||||
TC2, chan 2 => TC8_Handler
|
||||
*/
|
||||
|
||||
#if defined (_useTimer1)
|
||||
#define TC_FOR_TIMER1 TC1
|
||||
#define CHANNEL_FOR_TIMER1 0
|
||||
#define ID_TC_FOR_TIMER1 ID_TC3
|
||||
#define IRQn_FOR_TIMER1 TC3_IRQn
|
||||
#define HANDLER_FOR_TIMER1 TC3_Handler
|
||||
#endif
|
||||
#if defined (_useTimer2)
|
||||
#define TC_FOR_TIMER2 TC1
|
||||
#define CHANNEL_FOR_TIMER2 1
|
||||
#define ID_TC_FOR_TIMER2 ID_TC4
|
||||
#define IRQn_FOR_TIMER2 TC4_IRQn
|
||||
#define HANDLER_FOR_TIMER2 TC4_Handler
|
||||
#endif
|
||||
#if defined (_useTimer3)
|
||||
#define TC_FOR_TIMER3 TC1
|
||||
#define CHANNEL_FOR_TIMER3 2
|
||||
#define ID_TC_FOR_TIMER3 ID_TC5
|
||||
#define IRQn_FOR_TIMER3 TC5_IRQn
|
||||
#define HANDLER_FOR_TIMER3 TC5_Handler
|
||||
#endif
|
||||
#if defined (_useTimer4)
|
||||
#define TC_FOR_TIMER4 TC0
|
||||
#define CHANNEL_FOR_TIMER4 2
|
||||
#define ID_TC_FOR_TIMER4 ID_TC2
|
||||
#define IRQn_FOR_TIMER4 TC2_IRQn
|
||||
#define HANDLER_FOR_TIMER4 TC2_Handler
|
||||
#endif
|
||||
#if defined (_useTimer5)
|
||||
#define TC_FOR_TIMER5 TC0
|
||||
#define CHANNEL_FOR_TIMER5 0
|
||||
#define ID_TC_FOR_TIMER5 ID_TC0
|
||||
#define IRQn_FOR_TIMER5 TC0_IRQn
|
||||
#define HANDLER_FOR_TIMER5 TC0_Handler
|
||||
#endif
|
||||
|
||||
typedef enum { _timer1, _timer2, _timer3, _timer4, _timer5, _Nbr_16timers } timer16_Sequence_t ;
|
||||
|
||||
10
libraries/Servo/library.properties
Normal file
10
libraries/Servo/library.properties
Normal file
@ -0,0 +1,10 @@
|
||||
name=Servo
|
||||
author=cmaglie
|
||||
email=Cristian Maglie <c.maglie@bug.st>
|
||||
sentence=Controls a lot of Servos.
|
||||
paragraph=This library can control a great number of servos.<br />It makes careful use of timers: the library can control 12 servos with only 1 timer!<br />
|
||||
url=http://github.com/cmaglie/Servo
|
||||
architectures=avr,sam
|
||||
version=1.0
|
||||
dependencies=
|
||||
core-dependencies=arduino (>=1.5.0)
|
||||
@ -18,28 +18,31 @@
|
||||
*/
|
||||
|
||||
/*
|
||||
|
||||
A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
|
||||
The servos are pulsed in the background using the value most recently written using the write() method
|
||||
A servo is activated by creating an instance of the Servo class passing
|
||||
the desired pin to the attach() method.
|
||||
The servos are pulsed in the background using the value most recently
|
||||
written using the write() method.
|
||||
|
||||
Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
|
||||
Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
|
||||
Note that analogWrite of PWM on pins associated with the timer are
|
||||
disabled when the first servo is attached.
|
||||
Timers are seized as needed in groups of 12 servos - 24 servos use two
|
||||
timers, 48 servos will use four.
|
||||
The sequence used to sieze timers is defined in timers.h
|
||||
|
||||
The methods are:
|
||||
|
||||
Servo - Class for manipulating servo motors connected to Arduino pins.
|
||||
Servo - Class for manipulating servo motors connected to Arduino pins.
|
||||
|
||||
attach(pin ) - Attaches a servo motor to an i/o pin.
|
||||
attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds
|
||||
default min is 544, max is 2400
|
||||
attach(pin ) - Attaches a servo motor to an i/o pin.
|
||||
attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds
|
||||
default min is 544, max is 2400
|
||||
|
||||
write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
|
||||
writeMicroseconds() - Sets the servo pulse width in microseconds
|
||||
read() - Gets the last written servo pulse width as an angle between 0 and 180.
|
||||
readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
|
||||
attached() - Returns true if there is a servo attached.
|
||||
detach() - Stops an attached servos from pulsing its i/o pin.
|
||||
write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
|
||||
writeMicroseconds() - Sets the servo pulse width in microseconds
|
||||
read() - Gets the last written servo pulse width as an angle between 0 and 180.
|
||||
readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
|
||||
attached() - Returns true if there is a servo attached.
|
||||
detach() - Stops an attached servos from pulsing its i/o pin.
|
||||
*/
|
||||
|
||||
#ifndef Servo_h
|
||||
@ -50,40 +53,15 @@
|
||||
/*
|
||||
* Defines for 16 bit timers used with Servo library
|
||||
*
|
||||
* If _useTimerX is defined then TimerX is a 16 bit timer on the curent board
|
||||
* If _useTimerX is defined then TimerX is a 16 bit timer on the current board
|
||||
* timer16_Sequence_t enumerates the sequence that the timers should be allocated
|
||||
* _Nbr_16timers indicates how many 16 bit timers are available.
|
||||
*
|
||||
*/
|
||||
|
||||
// Say which 16 bit timers can be used and in what order
|
||||
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
|
||||
#define _useTimer5
|
||||
#define _useTimer1
|
||||
#define _useTimer3
|
||||
#define _useTimer4
|
||||
typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
|
||||
// Architecture specific include
|
||||
#include <ServoTimers.h>
|
||||
|
||||
#elif defined(__AVR_ATmega32U4__)
|
||||
#define _useTimer1
|
||||
typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
|
||||
|
||||
#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
|
||||
#define _useTimer3
|
||||
#define _useTimer1
|
||||
typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
|
||||
|
||||
#elif defined(__AVR_ATmega128__) ||defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
|
||||
#define _useTimer3
|
||||
#define _useTimer1
|
||||
typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
|
||||
|
||||
#else // everything else
|
||||
#define _useTimer1
|
||||
typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
|
||||
#endif
|
||||
|
||||
#define Servo_VERSION 2 // software version of this library
|
||||
#define Servo_VERSION 2 // software version of this library
|
||||
|
||||
#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
|
||||
#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo
|
||||
@ -102,7 +80,7 @@ typedef struct {
|
||||
|
||||
typedef struct {
|
||||
ServoPin_t Pin;
|
||||
unsigned int ticks;
|
||||
volatile unsigned int ticks;
|
||||
} servo_t;
|
||||
|
||||
class Servo
|
||||
Loading…
x
Reference in New Issue
Block a user