Servo Class Reference

#include <Servo.hh>

Inheritance diagram for Servo:

Collaboration diagram for Servo:

Public Member Functions
	Servo (uint8_t ix, Board::DigitalPin pin)
void	pulse (uint16_t min, uint16_t max)
uint16_t	width () const
void	angle (uint8_t degree)
uint8_t	angle () const

Static Public Member Functions
static bool	begin ()
static bool	end ()

Private Types
enum	Direction { MSB_FIRST = 0, LSB_FIRST = 1 }

Private Member Functions
void	_set () const
void	_set (int value) const
void	set () const
void	set (int value) const
void	high () const
void	on () const
void	_clear () const
void	clear () const
void	low () const
void	off () const
void	_toggle () const
void	toggle () const
void	_write (int value) const
void	write (int value) const
void	write (uint8_t value, OutputPin &clk, Direction order=MSB_FIRST) const
void	write (uint16_t value, uint8_t bits, uint16_t us) const
OutputPin &	operator<< (int value)
void	pulse (uint16_t us) const
volatile uint8_t *	PIN () const
volatile uint8_t *	DDR () const
volatile uint8_t *	PORT () const
uint8_t	pin () const
bool	is_set () const
bool	is_high () const
bool	is_on () const
bool	is_clear () const
bool	is_low () const
bool	is_off () const
bool	read () const
uint8_t	read (OutputPin &clk, Direction order=MSB_FIRST) const
	operator bool () const
Pin &	operator>> (uint8_t &var)
volatile uint8_t *	PCIMR () const

Static Private Member Functions
static void	mode (Board::DigitalPin pin, uint8_t initial=0)
static void	toggle (Board::DigitalPin pin)
static void	_write (Board::DigitalPin pin, uint8_t value)
static void	write (Board::DigitalPin pin, int value)
static uint8_t	MASK (uint8_t pin)
static volatile uint8_t *	PIN (uint8_t pin)
static volatile uint8_t *	DDR (uint8_t pin)
static volatile uint8_t *	PORT (uint8_t pin)
static bool	read (Board::DigitalPin pin)

Private Attributes
volatile uint8_t *const	m_sfr
const uint8_t	m_mask
const uint8_t	m_pin

Friends
void	TIMER1_COMPA_vect (void)
void	TIMER1_COMPB_vect (void)

Detailed Description

Servo motor driver. Uses Timer#1 and the two compare output registers.

Limitations

Cannot be used together with other classes that use Timer#1.

Definition at line 34 of file Servo.hh.

Constructor & Destructor Documentation

Servo::Servo ( uint8_t  ix, Board::DigitalPin  pin  )

inline

Construct a servo instance connected to the given pin. Default angle is 90 degree.

Parameters

[in]	ix	index of servo [0..1].
[in]	pin	digital pin to use as servo control output pin.

Definition at line 42 of file Servo.hh.

Member Function Documentation

void Servo::angle

(

uint8_t

degree

)

Set servo to given angle degree.

Parameters

[in]

degree

angle, 0..180.

Definition at line 51 of file Servo.cpp.

uint8_t Servo::angle ( ) const

inline

Return servo angle.

Returns

angle in degree, 0..180.

Definition at line 93 of file Servo.hh.

bool Servo::begin ( )

static

Start servo controller; enable interrupt handlers.

Definition at line 30 of file Servo.cpp.

bool Servo::end ( )

static

Stop servo controller; disable interrupt handlers.

Definition at line 43 of file Servo.cpp.

void Servo::pulse ( uint16_t  min, uint16_t  max  )

inline

Set pulse limits; min and max number of micro seconds. These will correspond to angle 0 and 180.

Parameters

[in]	min	number of micro seconds.
[in]	max	number of micro seconds.

Definition at line 67 of file Servo.hh.

uint16_t Servo::width ( ) const

inline

Return current pulse width in micro seconds.

Returns

pulse width.

Definition at line 78 of file Servo.hh.

Friends And Related Function Documentation

void TIMER1_COMPA_vect ( void  )

friend

Interrupt Service Routines.

void TIMER1_COMPB_vect ( void  )

friend

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The documentation for this class was generated from the following files:

• libraries/Servo/Servo.hh
• libraries/Servo/Servo.cpp