SerialWombatServo Class Reference

A class to control Servos attached to the Serial Wombat. More...

#include <SerialWombatServo.h>

Public Member Functions
	SerialWombatServo (SerialWombat &sw)
	Constructor for the SerialWombatServo Class. More...
	~SerialWombatServo ()
void	attach (uint8_t pin)
	Initialize a servo on the specified pin. More...
void	attach (uint8_t pin, bool reverse)
	Initialize a servo on the specified pin. More...
void	attach (uint8_t pin, uint16_t min, uint16_t max)
	Initialize a servo on the specified pin. More...
void	attach (uint8_t pin, uint16_t min, uint16_t max, bool reverse)
	Initialize a servo on the specified pin. More...
void	write (uint8_t angle)
	Writes a value to the servo. More...
void	write16bit (uint16_t position)
	Writes a 16 bit value to the servo. More...
uint8_t	read (void)
	returns the last position of the servo scaled to a number from 0 to 180. More...

Detailed Description

A class to control Servos attached to the Serial Wombat.

The SerialWombatServo class is used to control hobby servos attached to the Serial Wombat.

Any output-capable pin may be attached to an instance of the SerialWombatServo class. A separate instance should be declared for each Servo.

The SW4B_Ard_Servo example included with the Arduino library shows how to use this class.

This class uses "attach" rather than "begin" to initialize servos to be consistent with the Arduino Servo native API.

A Tutorial video is also avaialble:

https://youtu.be/WiciAtS1ng0

Constructor & Destructor Documentation

SerialWombatServo()

SerialWombatServo::SerialWombatServo

(

SerialWombat &

sw

)

Constructor for the SerialWombatServo Class.

Parameters

sw	A reference to a previously declared SerialWombat to which the Servo is connected.

~SerialWombatServo()

SerialWombatServo::~SerialWombatServo

(

)

Member Function Documentation

attach() [1/4]

void SerialWombatServo::attach

(

uint8_t

pin

)

Initialize a servo on the specified pin.

This function must be called after the SerialWombat instance specified in the constructor has been initialized with a begin call.

This function initializes a servo with a minimum pulse of 544 uS and a maximum pulse of 2400uS to be consistent with the native Arduino API attach function.

Parameters

pin	The Serial Wombat pin to set. Valid values for SW4A: 0-3 SW4B: 1-3

attach() [2/4]

void SerialWombatServo::attach	(	uint8_t	pin,
		bool	reverse
	)

Initialize a servo on the specified pin.

This function must be called after the SerialWombat instance specified in the constructor has been initialized with a begin call.

This function initializes a servo with a minimum pulse of 544 uS and a maximum pulse of 2400uS to be consistent with the native Arduino API attach function.

Parameters

pin	The Serial Wombat pin to set. Valid values for SW4A: 0-3 SW4B: 1-3
reverse	If true, the pulse widths will be reversed, with the longest pulse width corresponding to 0 position.

attach() [3/4]

void SerialWombatServo::attach	(	uint8_t	pin,
		uint16_t	min,
		uint16_t	max
	)

Initialize a servo on the specified pin.

This function must be called after the SerialWombat instance specified in the constructor has been initialized with a begin call.

Parameters

pin	The Serial Wombat pin to set. Valid values for SW4A: 0-3 SW4B: 1-3
min	Minimum pulse width in uS. Minimum functional value is 100.
max	Maximum pulse width in uS

attach() [4/4]

void SerialWombatServo::attach	(	uint8_t	pin,
		uint16_t	min,
		uint16_t	max,
		bool	reverse
	)

Initialize a servo on the specified pin.

This function must be called after the SerialWombat instance specified in the constructor has been initialized with a begin call.

Parameters

pin	The Serial Wombat pin to set. Valid values for SW4A: 0-3 SW4B: 1-3
min	Minimum pulse width in uS. Minimum functional value is 100.
max	Maximum pulse width in uS
reverse	If true, the pulse widths will be reversed, with the longest pulse width corresponding to 0 position.

read()

uint8_t SerialWombatServo::read

(

void

)

returns the last position of the servo scaled to a number from 0 to 180.

Returns

A position value from 0 to 180.

write()

void SerialWombatServo::write

(

uint8_t

angle

)

Writes a value to the servo.

This funciton allows setting the "angle" of a servo, although actual travel may vary. Consider using the Serial Wombat function write16bit for higher resolution

Parameters

angle

A value from 0 to 180

write16bit()

void SerialWombatServo::write16bit

(

uint16_t

position

)

Writes a 16 bit value to the servo.

This funciton scales the pulse width of the signal being sent to the servo.

Parameters

position

Servo position. 0 sends the minimum pulse width. 65535 sends the maximum pulse width (unless Reverse is enabled)