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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- * Copyright (c) 2017 Victor Perez
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program 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 General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <https://www.gnu.org/licenses/>.
- *
- */
- #pragma once
-
- // Pin number of unattached pins
- #define NOT_ATTACHED (-1)
- #define INVALID_SERVO 255
-
- #ifndef MAX_SERVOS
- #define MAX_SERVOS 3
- #endif
-
- #define SERVO_DEFAULT_MIN_PW 544
- #define SERVO_DEFAULT_MAX_PW 2400
- #define SERVO_DEFAULT_MIN_ANGLE 0
- #define SERVO_DEFAULT_MAX_ANGLE 180
-
- class libServo;
- typedef libServo hal_servo_t;
-
- class libServo {
- public:
- libServo();
- bool attach(const int32_t pin, const int32_t minAngle=SERVO_DEFAULT_MIN_ANGLE, const int32_t maxAngle=SERVO_DEFAULT_MAX_ANGLE);
- bool attached() const { return pin != NOT_ATTACHED; }
- bool detach();
- void move(const int32_t value);
- int32_t read() const;
- private:
- void servoWrite(uint8_t pin, const uint16_t duty_cycle);
-
- uint8_t servoIndex; // index into the channel data for this servo
- int32_t pin = NOT_ATTACHED;
- int32_t minAngle;
- int32_t maxAngle;
- int32_t angle;
-
- bool setupSoftPWM(const int32_t pin);
- void pauseSoftPWM();
- void pwmSetDuty(const uint16_t duty_cycle);
- };
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