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PWMServo.h
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#ifndef PWMServo_h
#define PWMServo_h
/*
PWMServo.h - Hardware Servo Timer Library
http://arduiniana.org/libraries/pwmservo/
Author: Jim Studt, [email protected]
Copyright (c) 2007 David A. Mellis. All right reserved.
renamed to PWMServo by Mikal Hart
ported to other chips by Paul Stoffregen
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
*/
#include <inttypes.h>
#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) // Arduino
#define SERVO_PIN_A 9
#define SERVO_PIN_B 10
#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // Arduino Mega
#define SERVO_PIN_A 11
#define SERVO_PIN_B 12
#define SERVO_PIN_C 13
#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__) // Sanguino
#define SERVO_PIN_A 13
#define SERVO_PIN_B 12
#elif defined(__AVR_AT90USB162__) // Teensy 1.0
#define SERVO_PIN_A 17
#define SERVO_PIN_B 18
#define SERVO_PIN_C 15
#elif defined(__AVR_ATmega32U4__) // Teensy 2.0
#define SERVO_PIN_A 14
#define SERVO_PIN_B 15
#define SERVO_PIN_C 4
#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__) // Teensy++
#define SERVO_PIN_A 25
#define SERVO_PIN_B 26
#define SERVO_PIN_C 27
#elif defined(__arm__) && defined(TEENSYDUINO)
#define SERVO_PIN_A 9
#define SERVO_PIN_B 10
// all PWM pins supported, but names not defined here...
// just use the actual PWM pin number with attach()
#elif defined(ARDUINO_UNOR4_WIFI) || defined(ARDUINO_UNOR4_MINIMA)
#include <pwm.h>
#define SERVO_PIN_A 9
#define SERVO_PIN_B 10
// all PWM pins supported, but names not defined here...
// just use the actual PWM pin number with attach()
#else
#define SERVO_PIN_A 9
#define SERVO_PIN_B 10
#endif
class PWMServo
{
private:
uint8_t pin;
uint8_t angle; // in degrees
uint8_t min16; // minimum pulse, 16uS units (default is 34)
uint8_t max16; // maximum pulse, 16uS units, 0-4ms range (default is 150)
#if defined(__AVR__)
static void seizeTimer1();
static void releaseTimer1();
static uint8_t attachedA;
static uint8_t attachedB;
#ifdef SERVO_PIN_C
static uint8_t attachedC;
#endif
#elif defined(__arm__) && defined(TEENSYDUINO)
static uint32_t attachedpins[]; // 1 bit per digital pin
#elif defined(ARDUINO_UNOR4_WIFI) || defined(ARDUINO_UNOR4_MINIMA)
static uint32_t attachedpins[]; // 1 bit per digital pin
PwmOut *pwmOut = nullptr;
#endif
public:
PWMServo();
uint8_t attach(int pinArg) { return attach(pinArg, 544, 2400); }
// pulse length for 0 degrees in microseconds, 544uS default
// pulse length for 180 degrees in microseconds, 2400uS default
uint8_t attach(int pinArg, int min, int max);
// attach to a pin, sets pinMode, returns 0 on failure, won't
// position the servo until a subsequent write() happens
// Only works for 9 and 10.
void detach();
void write(int angleArg); // specify the angle in degrees, 0 to 180
uint8_t read() { return angle; }
uint8_t attached();
};
#endif