SerialWombatServo.h

Go to the documentation of this file.

#pragma once
/*
Copyright 2020-2023 Broadwell Consulting Inc.
 
"Serial Wombat" is a registered trademark of Broadwell Consulting Inc. in
the United States.  See SerialWombat.com for usage guidance.
 
Permission is hereby granted, free of charge, to any person obtaining a
  copy of this software and associated documentation files (the "Software"),
  to deal in the Software without restriction, including without limitation
  the rights to use, copy, modify, merge, publish, distribute, sublicense,
  and/or sell copies of the Software, and to permit persons to whom the
  Software is furnished to do so, subject to the following conditions:
 
The above copyright notice and this permission notice shall be included in
  all copies or substantial portions of the Software.
 
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
  THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
  OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
  ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
  OTHER DEALINGS IN THE SOFTWARE.
*/
 
#include "SerialWombat.h"
 


class SerialWombatServo : public SerialWombatPin
{
public:
    SerialWombatServo(SerialWombatChip& sw):SerialWombatPin(sw)
    {
    _pinMode = PIN_MODE_SERVO;
    }

    void attach(uint8_t pin, bool reverse)
    {
        _pin = pin;
        _pinMode = PIN_MODE_SERVO;
        _reverse = reverse;
        initializeServo();
    }
    
    void attach(uint8_t pin, uint16_t min = 544, uint16_t max = 2400, bool reverse = false)
    {
        _pin = pin;
        _min = min;
        _max = max;
        _reverse = reverse;
        _pinMode = PIN_MODE_SERVO;
        initializeServo();
    }

    void write(uint8_t angle)
    {
        if (angle < 180)
        {
            write16bit((uint16_t)(65536uL * angle / 180));
        }
        else
        {
            write16bit(65535uL);
        }
 
    }

    void write16bit(uint16_t position)
    {
        _position = position;
        _sw.writePublicData(_pin, _position);
    }

    uint8_t read(void)
    {
        uint32_t returnval = _position;
        returnval *= 180;
        return (uint8_t)(returnval >> 16);
    }
 
protected:
    
    uint16_t _position = 0;
    uint16_t _min = 544;  // Default for Arduino Servo library
    uint16_t _max = 2400; // Default for Arduino Servo Library
    bool _reverse = false;
    void initializeServo()
    {
        uint8_t tx[] = { 200,_pin,_pinMode,_pin,SW_LE16(_position), _reverse,0x55 };
        uint8_t rx[8];
        _sw.sendPacket(tx, rx);
        uint8_t tx2[] = { 201,_pin,_pinMode,SW_LE16(_min), SW_LE16(_max-_min),0x55, 0x55 };
        _sw.sendPacket(tx2, rx);
 
    }
};

class SerialWombatServo_18AB : public SerialWombatServo, public SerialWombatAbstractScaledOutput
{
public:
    SerialWombatServo_18AB(SerialWombatChip& serialWombat):SerialWombatAbstractScaledOutput(serialWombat), SerialWombatServo(serialWombat)
    {
    }
    uint8_t pin()    {return SerialWombatPin::_pin;}
    uint8_t swPinModeNumber() {  return SerialWombatPin::_pinMode;}
};

class SerialWombatHighFrequencyServo : public SerialWombatServo_18AB
{
 
public:
    SerialWombatHighFrequencyServo(SerialWombatChip& serialWombat) :SerialWombatServo_18AB(serialWombat) {}
    void attach(uint8_t pin, bool reverse);
 

    void attach(uint8_t pin, uint16_t min , uint16_t max , bool reverse = false)
    {
        _pin = pin;
        _min = min;
        _max = max;
        _reverse = reverse;
        _pinMode = PIN_MODE_HS_SERVO;
        initializeServo();
    }
 
    int16_t writeFrequency_Hz(uint16_t frequency_hZ)
    {
        return writePeriod_uS((uint16_t)(1000000ul / frequency_hZ));
    }
    int16_t writePeriod_uS(uint16_t period_uS)
    {
        uint8_t tx[] = { 203,_pin,_pinMode,SW_LE16(period_uS), 0x55,0x55,0x55 };
        uint8_t rx[8];
        return _sw.sendPacket(tx, rx);
    }
};