50 lines
1.8 KiB
C++
50 lines
1.8 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2019 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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*
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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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#include <Arduino.h>
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class Servo {
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static const int MIN_ANGLE = 0,
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MAX_ANGLE = 180,
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MIN_PULSE_WIDTH = 544, // Shortest pulse sent to a servo
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MAX_PULSE_WIDTH = 2400, // Longest pulse sent to a servo
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TAU_MSEC = 20,
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TAU_USEC = (TAU_MSEC * 1000),
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MAX_COMPARE = ((1 << 16) - 1), // 65535
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CHANNEL_MAX_NUM = 16;
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public:
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Servo();
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int8_t attach(const int pin); // attach the given pin to the next free channel, set pinMode, return channel number (-1 on fail)
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void detach();
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void write(int degrees); // set angle
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void move(const int degrees); // attach the servo, then move to value
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int read(); // returns current pulse width as an angle between 0 and 180 degrees
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private:
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static int channel_next_free;
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int channel;
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int pin;
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int degrees;
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};
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