Skip to content
This repository was archived by the owner on Mar 31, 2023. It is now read-only.

Commit cf7799b

Browse files
ridhaosWi6labsVVESTM
ridhaosWi6labs
authored and
VVESTM
committed
Add Servo library
Add from https://github.com/stm32duino/Arduino_Core_STM32 version 1.2.0.
1 parent af8d82b commit cf7799b

File tree

9 files changed

+512
-0
lines changed

9 files changed

+512
-0
lines changed

‎libraries/Servo/README.adoc

+25
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,25 @@
1+
= Servo Library for Arduino =
2+
3+
This library allows an Arduino board to control RC (hobby) servo motors.
4+
5+
For more information about this library please visit us at
6+
http://www.arduino.cc/en/Reference/Servo
7+
8+
== License ==
9+
10+
Copyright (c) 2013 Arduino LLC. All right reserved.
11+
Copyright (c) 2009 Michael Margolis. All right reserved.
12+
13+
This library is free software; you can redistribute it and/or
14+
modify it under the terms of the GNU Lesser General Public
15+
License as published by the Free Software Foundation; either
16+
version 2.1 of the License, or (at your option) any later version.
17+
18+
This library is distributed in the hope that it will be useful,
19+
but WITHOUT ANY WARRANTY; without even the implied warranty of
20+
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
21+
Lesser General Public License for more details.
22+
23+
You should have received a copy of the GNU Lesser General Public
24+
License along with this library; if not, write to the Free Software
25+
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA

‎libraries/Servo/examples/Knob/Knob.ino

+27
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,27 @@
1+
/*
2+
Controlling a servo position using a potentiometer (variable resistor)
3+
by Michal Rinott <http://people.interaction-ivrea.it/m.rinott>
4+
5+
modified on 8 Nov 2013
6+
by Scott Fitzgerald
7+
http://www.arduino.cc/en/Tutorial/Knob
8+
*/
9+
10+
#include <Servo.h>
11+
12+
Servo myservo; // create servo object to control a servo
13+
14+
int potpin = 0; // analog pin used to connect the potentiometer
15+
int val; // variable to read the value from the analog pin
16+
17+
void setup() {
18+
myservo.attach(9); // attaches the servo on pin 9 to the servo object
19+
}
20+
21+
void loop() {
22+
val = analogRead(potpin); // reads the value of the potentiometer (value between 0 and 1023)
23+
val = map(val, 0, 1023, 0, 180); // scale it to use it with the servo (value between 0 and 180)
24+
myservo.write(val); // sets the servo position according to the scaled value
25+
delay(15); // waits for the servo to get there
26+
}
27+

‎libraries/Servo/examples/Sweep/Sweep.ino

+32
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,32 @@
1+
/* Sweep
2+
by BARRAGAN <http://barraganstudio.com>
3+
This example code is in the public domain.
4+
5+
modified 8 Nov 2013
6+
by Scott Fitzgerald
7+
http://www.arduino.cc/en/Tutorial/Sweep
8+
*/
9+
10+
#include <Servo.h>
11+
12+
Servo myservo; // create servo object to control a servo
13+
// twelve servo objects can be created on most boards
14+
15+
int pos = 0; // variable to store the servo position
16+
17+
void setup() {
18+
myservo.attach(9); // attaches the servo on pin 9 to the servo object
19+
}
20+
21+
void loop() {
22+
for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees
23+
// in steps of 1 degree
24+
myservo.write(pos); // tell servo to go to position in variable 'pos'
25+
delay(15); // waits 15ms for the servo to reach the position
26+
}
27+
for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
28+
myservo.write(pos); // tell servo to go to position in variable 'pos'
29+
delay(15); // waits 15ms for the servo to reach the position
30+
}
31+
}
32+

‎libraries/Servo/examples/fs90r/fs90r.ino

+36
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,36 @@
1+
/*
2+
Use servo library to control a FS90R motor
3+
4+
Motor information :
5+
http://www.feetechrc.com/product/analog-servo/micro-1-3kg-cm-360-degree-continuous-rotation-servo-fs90r/
6+
Must respect the pulse range in order not to damage servo.
7+
8+
*/
9+
10+
#include <Servo.h>
11+
12+
Servo fs90r; // create servo object to control a servo
13+
14+
int potpin = 0; // analog pin used to connect the potentiometer
15+
int val; // variable to read the value from the analog pin
16+
int servopin = 9; // pin used to connect the servo
17+
18+
void setup() {
19+
Serial.begin(115200);
20+
21+
fs90r.attach(servopin, 900, 2100); // attaches the servo on pin 9 to the servo object
22+
// Be carefull to min and max values...
23+
}
24+
25+
void loop() {
26+
val = analogRead(potpin); // reads the value of the potentiometer (value between 0 and 1023)
27+
val = map(val, 0, 1023, 0, 180); // scale it to use it with the servo (value between 0 and 180, at 90,
28+
// motor is stopped)
29+
30+
Serial.print("val = ");
31+
Serial.println(val);
32+
33+
fs90r.write(val); // sets the servo speed according to the scaled value
34+
delay(15);
35+
}
36+

‎libraries/Servo/keywords.txt

+24
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,24 @@
1+
#######################################
2+
# Syntax Coloring Map Servo
3+
#######################################
4+
5+
#######################################
6+
# Datatypes (KEYWORD1)
7+
#######################################
8+
9+
Servo KEYWORD1 Servo
10+
11+
#######################################
12+
# Methods and Functions (KEYWORD2)
13+
#######################################
14+
attach KEYWORD2
15+
detach KEYWORD2
16+
write KEYWORD2
17+
read KEYWORD2
18+
attached KEYWORD2
19+
writeMicroseconds KEYWORD2
20+
readMicroseconds KEYWORD2
21+
22+
#######################################
23+
# Constants (LITERAL1)
24+
#######################################

‎libraries/Servo/library.properties

+9
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,9 @@
1+
name=Servo
2+
version=1.1.2
3+
author=Michael Margolis, Arduino
4+
maintainer=Arduino <info@arduino.cc>
5+
sentence=Allows Arduino/Genuino boards to control a variety of servo motors.
6+
paragraph=This library can control a great number of servos.<br />It makes careful use of timers: the library can control 12 servos using only 1 timer.<br />On the Arduino Due you can control up to 60 servos.<br />
7+
category=Device Control
8+
url=http://www.arduino.cc/en/Reference/Servo
9+
architectures=avr,sam,samd,nrf52,stm32f4,stm32

‎libraries/Servo/src/Servo.h

+121
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,121 @@
1+
/*
2+
Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
3+
Copyright (c) 2009 Michael Margolis. All right reserved.
4+
5+
This library is free software; you can redistribute it and/or
6+
modify it under the terms of the GNU Lesser General Public
7+
License as published by the Free Software Foundation; either
8+
version 2.1 of the License, or (at your option) any later version.
9+
10+
This library is distributed in the hope that it will be useful,
11+
but WITHOUT ANY WARRANTY; without even the implied warranty of
12+
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
13+
Lesser General Public License for more details.
14+
15+
You should have received a copy of the GNU Lesser General Public
16+
License along with this library; if not, write to the Free Software
17+
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
18+
*/
19+
20+
/*
21+
A servo is activated by creating an instance of the Servo class passing
22+
the desired pin to the attach() method.
23+
The servos are pulsed in the background using the value most recently
24+
written using the write() method.
25+
26+
Note that analogWrite of PWM on pins associated with the timer are
27+
disabled when the first servo is attached.
28+
Timers are seized as needed in groups of 12 servos - 24 servos use two
29+
timers, 48 servos will use four.
30+
The sequence used to sieze timers is defined in timers.h
31+
32+
The methods are:
33+
34+
Servo - Class for manipulating servo motors connected to Arduino pins.
35+
36+
attach(pin ) - Attaches a servo motor to an i/o pin.
37+
attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds
38+
default min is 544, max is 2400
39+
40+
write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
41+
writeMicroseconds() - Sets the servo pulse width in microseconds
42+
read() - Gets the last written servo pulse width as an angle between 0 and 180.
43+
readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
44+
attached() - Returns true if there is a servo attached.
45+
detach() - Stops an attached servos from pulsing its i/o pin.
46+
*/
47+
48+
#ifndef Servo_h
49+
#define Servo_h
50+
51+
#include <inttypes.h>
52+
53+
/*
54+
* Defines for 16 bit timers used with Servo library
55+
*
56+
* If _useTimerX is defined then TimerX is a 16 bit timer on the current board
57+
* timer16_Sequence_t enumerates the sequence that the timers should be allocated
58+
* _Nbr_16timers indicates how many 16 bit timers are available.
59+
*/
60+
61+
// Architecture specific include
62+
#if defined(ARDUINO_ARCH_AVR)
63+
#include "avr/ServoTimers.h"
64+
#elif defined(ARDUINO_ARCH_SAM)
65+
#include "sam/ServoTimers.h"
66+
#elif defined(ARDUINO_ARCH_SAMD)
67+
#include "samd/ServoTimers.h"
68+
#elif defined(ARDUINO_ARCH_STM32F4)
69+
#include "stm32f4/ServoTimers.h"
70+
#elif defined(ARDUINO_ARCH_NRF52)
71+
#include "nrf52/ServoTimers.h"
72+
#elif defined(ARDUINO_ARCH_STM32)
73+
#include "stm32/ServoTimers.h"
74+
#else
75+
#error "This library only supports boards with an AVR, SAM, SAMD, NRF52, STM32F4 or STM32 processor."
76+
#endif
77+
78+
#define Servo_VERSION 2 // software version of this library
79+
80+
#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
81+
#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo
82+
#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached
83+
#define REFRESH_INTERVAL 20000 // minumim time to refresh servos in microseconds
84+
85+
#define SERVOS_PER_TIMER 12 // the maximum number of servos controlled by one timer
86+
#define MAX_SERVOS (_Nbr_16timers * SERVOS_PER_TIMER)
87+
88+
#define INVALID_SERVO 255 // flag indicating an invalid servo index
89+
90+
#if !defined(ARDUINO_ARCH_STM32F4)
91+
92+
typedef struct {
93+
uint8_t nbr :6 ; // a pin number from 0 to 63
94+
uint8_t isActive :1 ; // true if this channel is enabled, pin not pulsed if false
95+
} ServoPin_t ;
96+
97+
typedef struct {
98+
ServoPin_t Pin;
99+
volatile unsigned int ticks;
100+
} servo_t;
101+
102+
class Servo
103+
{
104+
public:
105+
Servo();
106+
uint8_t attach(int pin); // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure
107+
uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes.
108+
void detach();
109+
void write(int value); // if value is < 200 its treated as an angle, otherwise as pulse width in microseconds
110+
void writeMicroseconds(int value); // Write pulse width in microseconds
111+
int read(); // returns current pulse width as an angle between 0 and 180 degrees
112+
int readMicroseconds(); // returns current pulse width in microseconds for this servo (was read_us() in first release)
113+
bool attached(); // return true if this servo is attached, otherwise false
114+
private:
115+
uint8_t servoIndex; // index into the channel data for this servo
116+
int8_t min; // minimum is this value times 4 added to MIN_PULSE_WIDTH
117+
int8_t max; // maximum is this value times 4 added to MAX_PULSE_WIDTH
118+
};
119+
120+
#endif
121+
#endif

0 commit comments

Comments
 (0)