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33 lines
1.2 KiB
C++
33 lines
1.2 KiB
C++
#ifndef SoftwareServo_h
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#define SoftwareServo_h
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#include "Arduino.h"</wprogram.h>
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#include <inttypes.h>
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class SoftwareServo
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{
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private:
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uint8_t pin;
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uint8_t angle; // in degrees
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uint16_t pulse0; // pulse width in TCNT0 counts
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uint8_t min16; // minimum pulse, 16uS units (default is 34)
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uint8_t max16; // maximum pulse, 16uS units, 0-4ms range (default is 150)
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class SoftwareServo *next;
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static SoftwareServo* first;
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public:
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SoftwareServo();
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uint8_t attach(int); // attach to a pin, sets pinMode, returns 0 on failure, won't
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// position the servo until a subsequent write() happens
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void detach();
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void write(int); // specify the angle in degrees, 0 to 180
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uint8_t read();
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uint8_t attached();
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void setMinimumPulse(uint16_t); // pulse length for 0 degrees in microseconds, 540uS default
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void setMaximumPulse(uint16_t); // pulse length for 180 degrees in microseconds, 2400uS default
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static void refresh(); // must be called at least every 50ms or so to keep servo alive
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// you can call more often, it won't happen more than once every 20ms
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};
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#endif
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