1 | /*
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2 | Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
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3 | Copyright (c) 2009 Michael Margolis. All right reserved.
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4 |
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5 | This library is free software; you can redistribute it and/or
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6 | modify it under the terms of the GNU Lesser General Public
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7 | License as published by the Free Software Foundation; either
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8 | version 2.1 of the License, or (at your option) any later version.
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9 |
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10 | This library is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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13 | Lesser General Public License for more details.
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14 |
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15 | You should have received a copy of the GNU Lesser General Public
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16 | License along with this library; if not, write to the Free Software
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17 | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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18 | */
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19 |
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20 | /*
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21 | A servo is activated by creating an instance of the Servo class passing
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22 | the desired pin to the attach() method.
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23 | The servos are pulsed in the background using the value most recently
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24 | written using the write() method.
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25 |
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26 | Note that analogWrite of PWM on pins associated with the timer are
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27 | disabled when the first servo is attached.
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28 | Timers are seized as needed in groups of 12 servos - 24 servos use two
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29 | timers, 48 servos will use four.
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30 | The sequence used to sieze timers is defined in timers.h
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31 |
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32 | The methods are:
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33 |
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34 | Servo - Class for manipulating servo motors connected to Arduino pins.
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35 |
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36 | attach(pin ) - Attaches a servo motor to an i/o pin.
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37 | attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds
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38 | default min is 544, max is 2400
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39 |
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40 | write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
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41 | writeMicroseconds() - Sets the servo pulse width in microseconds
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42 | read() - Gets the last written servo pulse width as an angle between 0 and 180.
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43 | readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
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44 | attached() - Returns true if there is a servo attached.
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45 | detach() - Stops an attached servos from pulsing its i/o pin.
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46 | */
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47 |
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48 | #ifndef Servo_h
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49 | #define Servo_h
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50 |
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51 | #include <inttypes.h>
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52 |
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53 | /*
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54 | * Defines for 16 bit timers used with Servo library
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55 | *
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56 | * If _useTimerX is defined then TimerX is a 16 bit timer on the current board
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57 | * timer16_Sequence_t enumerates the sequence that the timers should be allocated
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58 | * _Nbr_16timers indicates how many 16 bit timers are available.
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59 | */
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60 |
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61 | // Architecture specific include
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62 | #if defined(ARDUINO_ARCH_AVR)
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63 | #include "avr/ServoTimers.h"
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64 | #elif defined(ARDUINO_ARCH_SAM)
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65 | #include "sam/ServoTimers.h"
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66 | #elif defined(ARDUINO_ARCH_SAMD)
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67 | //#include "samd/ServoTimersSamd.h"
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68 | #define MIN_PULSE_WIDTH_SAMD_TCC 405
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69 | #define MAX_PULSE_WIDTH_SAMD_TCC 2300
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70 | #define MIN_PULSE_WIDTH_SAMD_TC 1700
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71 | #define MAX_PULSE_WIDTH_SAMD_TC 9200
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72 | #else
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73 | #error "This library only supports boards with an AVR,SAM or SAMD processor."
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74 | #endif
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75 |
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76 | #define Servo_VERSION 2.1 // software version of this library
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77 |
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78 | #define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
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79 | #define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo
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80 | #define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached
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81 | #define REFRESH_INTERVAL 20000 // minumim time to refresh servos in microseconds
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82 |
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83 | #define SERVOS_PER_TIMER 12 // the maximum number of servos controlled by one timer
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84 | #if defined(ARDUINO_ARCH_AVR) || defined(ARDUINO_ARCH_SAM)
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85 | #define MAX_SERVOS (_Nbr_16timers * SERVOS_PER_TIMER)
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86 | #elif defined(ARDUINO_ARCH_SAMD)
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87 | #define MAX_SERVOS 8
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88 | #else
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89 | #error "This library only supports boards with an AVR,SAM or SAMD processor."
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90 | #endif
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91 |
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92 |
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93 | #define INVALID_SERVO 255 // flag indicating an invalid servo index
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94 |
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95 | typedef struct {
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96 | uint8_t nbr :6 ; // a pin number from 0 to 63
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97 | uint8_t isActive :1 ; // true if this channel is enabled, pin not pulsed if false
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98 | } ServoPin_t ;
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99 |
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100 | typedef struct {
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101 | ServoPin_t Pin;
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102 | volatile unsigned int ticks;
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103 | } servo_t;
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104 |
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105 | class Servo
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106 | {
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107 | public:
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108 | Servo();
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109 | 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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110 | uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes.
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111 | void detach();
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112 | void write(int value); // if value is < 200 its treated as an angle, otherwise as pulse width in microseconds
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113 | void writeMicroseconds(int value); // Write pulse width in microseconds
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114 | int read(); // returns current pulse width as an angle between 0 and 180 degrees
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115 | int readMicroseconds(); // returns current pulse width in microseconds for this servo (was read_us() in first release)
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116 | bool attached(); // return true if this servo is attached, otherwise false
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117 | private:
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118 | uint8_t servoIndex; // index into the channel data for this servo
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119 | int8_t min; // minimum is this value times 4 added to MIN_PULSE_WIDTH
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120 | int8_t max; // maximum is this value times 4 added to MAX_PULSE_WIDTH
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121 | };
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122 |
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123 | #endif
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