54 lines
1.7 KiB
C++
54 lines
1.7 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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* Copyright (C) 2017 Victor Perez
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program 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
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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// Pin number of unattached pins
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#define NOT_ATTACHED (-1)
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#define INVALID_SERVO 255
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#ifndef MAX_SERVOS
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#define MAX_SERVOS 3
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#endif
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#define SERVO_DEFAULT_MIN_PW 544
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#define SERVO_DEFAULT_MAX_PW 2400
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#define SERVO_DEFAULT_MIN_ANGLE 0
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#define SERVO_DEFAULT_MAX_ANGLE 180
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#define HAL_SERVO_LIB libServo
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class libServo {
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public:
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libServo();
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bool attach(const int32_t pin, const int32_t minAngle=SERVO_DEFAULT_MIN_ANGLE, const int32_t maxAngle=SERVO_DEFAULT_MAX_ANGLE);
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bool attached() const { return this->pin != NOT_ATTACHED; }
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bool detach();
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void move(const int32_t value);
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int32_t read() const;
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private:
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uint8_t servoIndex; // index into the channel data for this servo
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int32_t pin = NOT_ATTACHED;
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int32_t minAngle;
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int32_t maxAngle;
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};
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