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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> Copyright (c) 2009 Michael Margolis. All right reserved.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"></span> </div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> This library is free software; you can redistribute it and/or</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> modify it under the terms of the GNU Lesser General Public</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> License as published by the Free Software Foundation; either</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> version 2.1 of the License, or (at your option) any later version.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"></span> </div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> This library is distributed in the hope that it will be useful,</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> but WITHOUT ANY WARRANTY; without even the implied warranty of</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> Lesser General Public License for more details.</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"></span> </div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> You should have received a copy of the GNU Lesser General Public</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> License along with this library; if not, write to the Free Software</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">*/</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  </div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"></span> </div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> The servos are pulsed in the background using the value most recently written using the write() method</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"></span> </div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> The sequence used to seize timers is defined in timers.h</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"></span> </div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> The methods are:</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"></span> </div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> Servo - Class for manipulating servo motors connected to Arduino pins.</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"></span> </div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> attach(pin ) - Attaches a servo motor to an i/o pin.</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> default min is 544, max is 2400</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"></span> </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment"> write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="comment"> writeMicroseconds() - Sets the servo pulse width in microseconds</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="comment"> read() - Gets the last written servo pulse width as an angle between 0 and 180.</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="comment"> readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="comment"> attached() - Returns true if there is a servo attached.</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="comment"> detach() - Stops an attached servos from pulsing its i/o pin.</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#ifndef Servo_h</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#define Servo_h</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  </div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="preprocessor">#include <inttypes.h></span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  </div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="comment"> * Defines for 16 bit timers used with Servo library</span></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="comment"> * If _useTimerX is defined then TimerX is a 16 bit timer on the current board</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="comment"> * timer16_Sequence_t enumerates the sequence that the timers should be allocated</span></div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="comment"> * _Nbr_16timers indicates how many 16 bit timers are available.</span></div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  </div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="comment">// Say which 16 bit timers can be used and in what order</span></div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> <span class="preprocessor">#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)</span></div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="preprocessor">#define _useTimer5</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <span class="comment">//#define _useTimer1</span></div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="preprocessor">#define _useTimer3</span></div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="preprocessor">#define _useTimer4</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="comment">//typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;</span></div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> <span class="keyword">typedef</span> <span class="keyword">enum</span> { _timer5, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  </div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <span class="preprocessor">#elif defined(__AVR_ATmega32U4__)</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="comment">//#define _useTimer1</span></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="preprocessor">#define _useTimer3</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> <span class="comment">//typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> <span class="keyword">typedef</span> <span class="keyword">enum</span> { _timer3, _Nbr_16timers } timer16_Sequence_t ;</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  </div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> <span class="preprocessor">#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> <span class="preprocessor">#define _useTimer3</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span> <span class="comment">//#define _useTimer1</span></div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> <span class="comment">//typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;</span></div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> <span class="keyword">typedef</span> <span class="keyword">enum</span> { _timer3, _Nbr_16timers } timer16_Sequence_t ;</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  </div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> <span class="preprocessor">#elif defined(__AVR_ATmega128__) ||defined(__AVR_ATmega1281__) || defined(__AVR_ATmega1284P__) ||defined(__AVR_ATmega2561__)</span></div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> <span class="preprocessor">#define _useTimer3</span></div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span> <span class="comment">//#define _useTimer1</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> <span class="comment">//typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> <span class="keyword">typedef</span> <span class="keyword">enum</span> { _timer3, _Nbr_16timers } timer16_Sequence_t ;</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  </div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> <span class="preprocessor">#else </span><span class="comment">// everything else</span></div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> <span class="comment">//#define _useTimer1</span></div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span> <span class="comment">//typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;</span></div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> <span class="keyword">typedef</span> <span class="keyword">enum</span> { _Nbr_16timers } timer16_Sequence_t ;</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> <span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  </div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> <span class="preprocessor">#define Servo_VERSION 2 </span><span class="comment">// software version of this library</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  </div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> <span class="preprocessor">#define MIN_PULSE_WIDTH 544 </span><span class="comment">// the shortest pulse sent to a servo</span></div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> <span class="preprocessor">#define MAX_PULSE_WIDTH 2400 </span><span class="comment">// the longest pulse sent to a servo</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> <span class="preprocessor">#define DEFAULT_PULSE_WIDTH 1500 </span><span class="comment">// default pulse width when servo is attached</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> <span class="preprocessor">#define REFRESH_INTERVAL 20000 </span><span class="comment">// minimum time to refresh servos in microseconds</span></div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  </div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> <span class="preprocessor">#define SERVOS_PER_TIMER 12 </span><span class="comment">// the maximum number of servos controlled by one timer</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> <span class="preprocessor">#define MAX_SERVOS (_Nbr_16timers * SERVOS_PER_TIMER)</span></div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  </div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span> <span class="preprocessor">#define INVALID_SERVO 255 </span><span class="comment">// flag indicating an invalid servo index</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  </div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="structServoPin__t.html"> 104</a></span> <span class="keyword">typedef</span> <span class="keyword">struct </span>{</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  uint8_t nbr :6 ; <span class="comment">// a pin number from 0 to 63</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  uint8_t isActive :1 ; <span class="comment">// true if this channel is enabled, pin not pulsed if false</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> } <a class="code" href="structServoPin__t.html">ServoPin_t</a> ;</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  </div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="structservo__t.html"> 109</a></span> <span class="keyword">typedef</span> <span class="keyword">struct </span>{</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <a class="code" href="structServoPin__t.html">ServoPin_t</a> Pin;</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ticks;</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> } <a class="code" href="structservo__t.html">servo_t</a>;</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  </div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classServo.html"> 114</a></span> <span class="keyword">class </span><a class="code" href="classServo.html">Servo</a></div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> {</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> <span class="keyword">public</span>:</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <a class="code" href="classServo.html">Servo</a>();</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  uint8_t attach(<span class="keywordtype">int</span> pin); <span class="comment">// attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  uint8_t attach(<span class="keywordtype">int</span> pin, <span class="keywordtype">int</span> min, <span class="keywordtype">int</span> max); <span class="comment">// as above but also sets min and max values for writes.</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="keywordtype">void</span> detach();</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keywordtype">void</span> write(<span class="keywordtype">int</span> value); <span class="comment">// if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds</span></div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keywordtype">void</span> writeMicroseconds(<span class="keywordtype">int</span> value); <span class="comment">// Write pulse width in microseconds</span></div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordtype">int</span> read(); <span class="comment">// returns current pulse width as an angle between 0 and 180 degrees</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="keywordtype">int</span> readMicroseconds(); <span class="comment">// returns current pulse width in microseconds for this servo (was read_us() in first release)</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="keywordtype">bool</span> attached(); <span class="comment">// return true if this servo is attached, otherwise false</span></div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> <span class="preprocessor">#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="keywordtype">int</span> pin; <span class="comment">// store the hardware pin of the servo</span></div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> <span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> <span class="keyword">private</span>:</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  uint8_t servoIndex; <span class="comment">// index into the channel data for this servo</span></div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  int8_t min; <span class="comment">// minimum is this value times 4 added to MIN_PULSE_WIDTH</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  int8_t max; <span class="comment">// maximum is this value times 4 added to MAX_PULSE_WIDTH</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span> };</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  </div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> <span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclassServo_html"><div class="ttname"><a href="classServo.html">Servo</a></div><div class="ttdef"><b>Definition:</b> Servo.h:115</div></div>
<div class="ttc" id="astructServoPin__t_html"><div class="ttname"><a href="structServoPin__t.html">ServoPin_t</a></div><div class="ttdef"><b>Definition:</b> Servo.h:104</div></div>
<div class="ttc" id="astructservo__t_html"><div class="ttname"><a href="structservo__t.html">servo_t</a></div><div class="ttdef"><b>Definition:</b> Servo.h:109</div></div>
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