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Update servo.* for parity with 2.0.x

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This commit is contained in:
Scott Lahteine 2018-03-08 19:27:15 -06:00
parent e5e3c3ff35
commit ba1c2a9819
2 changed files with 54 additions and 56 deletions
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11
Marlin/servo.cpp
View File

@ -236,7 +236,6 @@ static bool isTimerActive(timer16_Sequence_t timer) {
return false; return false;
} }
/****************** end of static functions ******************************/ /****************** end of static functions ******************************/
Servo::Servo() { Servo::Servo() {
@ -248,11 +247,11 @@ Servo::Servo() {
this->servoIndex = INVALID_SERVO; // too many servos this->servoIndex = INVALID_SERVO; // too many servos
} }
int8_t Servo::attach(int pin) { int8_t Servo::attach(const int pin) {
return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH); return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
} }
int8_t Servo::attach(int pin, int min, int max) { int8_t Servo::attach(const int pin, const int min, const int max) {
if (this->servoIndex >= MAX_SERVOS) return -1; if (this->servoIndex >= MAX_SERVOS) return -1;
@ -307,16 +306,16 @@ int Servo::readMicroseconds() {
bool Servo::attached() { return servo_info[this->servoIndex].Pin.isActive; } bool Servo::attached() { return servo_info[this->servoIndex].Pin.isActive; }
void Servo::move(int value) { void Servo::move(const int value) {
constexpr uint16_t servo_delay[] = SERVO_DELAY; constexpr uint16_t servo_delay[] = SERVO_DELAY;
static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long."); static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
if (this->attach(0) >= 0) { if (this->attach(0) >= 0) {
this->write(value); this->write(value);
delay(servo_delay[this->servoIndex]); safe_delay(servo_delay[this->servoIndex]);
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE) #if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
this->detach(); this->detach();
#endif #endif
} }
} }
#endif #endif // HAS_SERVOS

99
Marlin/servo.h
View File

@ -21,53 +21,53 @@
*/ */
/** /**
servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2 * servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
Copyright (c) 2009 Michael Margolis. All right reserved. * Copyright (c) 2009 Michael Margolis. All right reserved.
*
This library is free software; you can redistribute it and/or * This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public * modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either * License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version. * 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, * This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details. * Lesser General Public License for more details.
*
You should have received a copy of the GNU Lesser General Public * You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software * License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA * 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 sequence used to seize timers is defined in timers.h
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.
move(angle) - Sequence of attach(0), write(angle),
With DEACTIVATE_SERVOS_AFTER_MOVE wait SERVO_DELAY and detach.
*/ */
#ifndef servo_h /**
#define servo_h *
* 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 sequence used to seize timers is defined in timers.h
*
* 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.
* move(angle) - Sequence of attach(0), write(angle),
* With DEACTIVATE_SERVOS_AFTER_MOVE wait SERVO_DELAY and detach.
*/
#ifndef SERVO_H
#define SERVO_H
#include <inttypes.h> #include <inttypes.h>
@ -114,7 +114,6 @@ typedef enum {
_Nbr_16timers _Nbr_16timers
} timer16_Sequence_t; } timer16_Sequence_t;
#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 MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
@ -140,12 +139,12 @@ typedef struct {
class Servo { class Servo {
public: public:
Servo(); Servo();
int8_t attach(int pin); // attach the given pin to the next free channel, set pinMode, return channel number (-1 on fail) int8_t attach(const int pin); // attach the given pin to the next free channel, set pinMode, return channel number (-1 on fail)
int8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes. int8_t attach(const int pin, const int min, const int max); // as above but also sets min and max values for writes.
void detach(); void detach();
void write(int value); // if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds void write(int value); // if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
void writeMicroseconds(int value); // write pulse width in microseconds void writeMicroseconds(int value); // write pulse width in microseconds
void move(int value); // attach the servo, then move to value void move(const int value); // attach the servo, then move to value
// if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds // if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
// if DEACTIVATE_SERVOS_AFTER_MOVE wait SERVO_DELAY, then detach // if DEACTIVATE_SERVOS_AFTER_MOVE wait SERVO_DELAY, then detach
int read(); // returns current pulse width as an angle between 0 and 180 degrees int read(); // returns current pulse width as an angle between 0 and 180 degrees
@ -158,4 +157,4 @@ class Servo {
int8_t max; // maximum is this value times 4 added to MAX_PULSE_WIDTH int8_t max; // maximum is this value times 4 added to MAX_PULSE_WIDTH
}; };
#endif #endif // SERVO_H