This template class supports one servomotor connected to a PWM pin. More...

#include <fastarduino/devices/servo.h>

Public Types
using	TIMER = TIMER_
	The type of timer used to handle the connected servomotor. More...

using	TYPE = typename TIMER::TYPE
	The type of counter for `TIMER_`. More...

Public Member Functions
	Servo (TIMER &timer, uint16_t us_minimum, uint16_t us_maximum, uint16_t us_neutral=0)
	Create a new servo handler, based on the provided `timer` (which will provide the frequency for pulse generation), and the additional parameters for pulse width. More...

void	detach () INLINE
	Detach the servomotor from this handler. More...

void	set_counter (TYPE value) INLINE
	Set the Timer counter that will change the pulse width, hence the servo angle. More...

void	set_pulse (uint16_t pulse_us)
	Set the pulse width in microsecond, hence the servo angle. More...

void	rotate (int8_t angle)
	Rotate the servomotor at the given `angle` position. More...

constexpr TYPE	calculate_counter (uint16_t pulse_us) const
	Calculate the counter value to use with `set_counter()` in order to generate a pulse of the given width. More...

Static Public Attributes
static constexpr const board::PWMPin	PWMPIN = PWMPIN_
	The PWM pin for this PWMOutput. More...

static constexpr const board::DigitalPin	PIN = board_traits::PWMPin_trait<PWMPIN>::ACTUAL_PIN
	The pin to which the servomotor is connected. More...

Detailed Description

template<typename TIMER_, board::PWMPin PWMPIN_>
class devices::servo::Servo< TIMER_, PWMPIN_ >

This template class supports one servomotor connected to a PWM pin.

Servomotors are driven by the width of pulses generated at a specific frequency (specific to each model, but typically around 50Hz, i.e. one pulse every 20ms), a specific width matches a specific rotation angle of the servo.

Template Parameters

TIMER_	the type of timer used to handle the connected servomotor; this must be a `timer::PulseTimer` type.
PWMPIN_	the `board::PWMPin` to which the servomotor is connected; this must be a PWM pin, connected to `TIMER_`.

See also: timer::PulseTimer

Definition at line 54 of file servo.h.

Member Typedef Documentation

◆ TIMER

template<typename TIMER_ , board::PWMPin PWMPIN_>

using devices::servo::Servo< TIMER_, PWMPIN_ >::TIMER = TIMER_

The type of timer used to handle the connected servomotor.

Definition at line 58 of file servo.h.

◆ TYPE

template<typename TIMER_ , board::PWMPin PWMPIN_>

using devices::servo::Servo< TIMER_, PWMPIN_ >::TYPE = typename TIMER::TYPE

The type of counter for TIMER_.

Definition at line 64 of file servo.h.

Constructor & Destructor Documentation

◆ Servo()

template<typename TIMER_ , board::PWMPin PWMPIN_>

devices::servo::Servo< TIMER_, PWMPIN_ >::Servo	(	TIMER &	timer,
		uint16_t	us_minimum,
		uint16_t	us_maximum,
		uint16_t	us_neutral = `0`
	)

inline

Create a new servo handler, based on the provided timer (which will provide the frequency for pulse generation), and the additional parameters for pulse width.

Parameters

timer	the `timer::PulseTimer` that will handle pulse generation for this servomotor
us_minimum	the minimal pulse width in microseconds; this matches the minimal angle of the servo.
us_maximum	the maximal pulse width in microseconds: this matches the maximal angle of the servo.
us_neutral	the pulse width, in microseconds, that matches the 0 angle; when not provided (or `0`), it will be calculated as the average of `us_minimum` and `us_maximum`.

Definition at line 92 of file servo.h.

Member Function Documentation

◆ detach()

template<typename TIMER_ , board::PWMPin PWMPIN_>

void devices::servo::Servo< TIMER_, PWMPIN_ >::detach ( )

inline

Detach the servomotor from this handler.

Concretely, this means that no pulse will be generated at all, i.e. the servo will not be able to hold its position anymore.

Definition at line 105 of file servo.h.

◆ set_counter()

template<typename TIMER_ , board::PWMPin PWMPIN_>

void devices::servo::Servo< TIMER_, PWMPIN_ >::set_counter ( TYPE value )

inline

Set the Timer counter that will change the pulse width, hence the servo angle.

This method is the most optimized way to change the servo angle. However, it requires preliminary calculation of counter values from the desired angles. Calculation can be performed by calculate_counter().

Parameters

value the new counter value to use for fixing pulse width

See also: calculate_counter(); set_pulse(); rotate()

Definition at line 123 of file servo.h.

◆ set_pulse()

template<typename TIMER_ , board::PWMPin PWMPIN_>

void devices::servo::Servo< TIMER_, PWMPIN_ >::set_pulse ( uint16_t pulse_us )

inline

Set the pulse width in microsecond, hence the servo angle.

This method is less optimized way than set_counter() to change the servo angle.

Parameters

pulse_us the new pulse width in microseconds

See also: set_counter(); rotate()

Definition at line 138 of file servo.h.

◆ rotate()

template<typename TIMER_ , board::PWMPin PWMPIN_>

void devices::servo::Servo< TIMER_, PWMPIN_ >::rotate ( int8_t angle )

inline

Rotate the servomotor at the given angle position.

This method is less optimized than set_counter() and more efficient than set_pulse(), but it provides a more friendly API as it uses real physical parameters.

Parameters

angle the new angle, in degrees, to rotate the servo to; it must be between -90 and +90.

Definition at line 153 of file servo.h.

◆ calculate_counter()

template<typename TIMER_ , board::PWMPin PWMPIN_>

constexpr TYPE devices::servo::Servo< TIMER_, PWMPIN_ >::calculate_counter ( uint16_t pulse_us ) const

inlineconstexpr

Calculate the counter value to use with set_counter() in order to generate a pulse of the given width.

This method is constexpr hence it can be evaluated at compile-time if provided with a constant value.

Parameters

pulse_us the pulse width, in microseconds, for which to compute the counter value

Returns: the counter value to use for a pulse_us width

See also: set_counter()

Definition at line 174 of file servo.h.

Member Data Documentation

◆ PWMPIN

template<typename TIMER_ , board::PWMPin PWMPIN_>

constexpr const board::PWMPin devices::servo::Servo< TIMER_, PWMPIN_ >::PWMPIN = PWMPIN_

staticconstexpr

The PWM pin for this PWMOutput.

Definition at line 60 of file servo.h.

◆ PIN

template<typename TIMER_ , board::PWMPin PWMPIN_>

constexpr const board::DigitalPin devices::servo::Servo< TIMER_, PWMPIN_ >::PIN = board_traits::PWMPin_trait<PWMPIN>::ACTUAL_PIN

staticconstexpr

The pin to which the servomotor is connected.

Definition at line 62 of file servo.h.

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

fastarduino/devices/servo.h

Public Types

Public Member Functions

Static Public Attributes

Detailed Description

Member Typedef Documentation

◆ TIMER

◆ TYPE

Constructor & Destructor Documentation

◆ Servo()

Member Function Documentation

◆ detach()

◆ set_counter()

◆ set_pulse()

◆ rotate()

◆ calculate_counter()

Member Data Documentation

◆ PWMPIN

◆ PIN