47 lines
1 KiB
C++
47 lines
1 KiB
C++
#pragma once
|
|
|
|
#include <cstdint>
|
|
#include "hal.h"
|
|
|
|
/** Drives a bunch of servos.
|
|
|
|
Generates a centered PWM signal of 1.0 to 2.0 ms plus a bit of
|
|
margin.
|
|
*/
|
|
class Servos {
|
|
public:
|
|
Servos();
|
|
|
|
/** Initialise and start the hardware. */
|
|
void init();
|
|
|
|
/** Update the width of one channel. See Low, Mid, and High for
|
|
some of the limits.
|
|
*/
|
|
void set(uint8_t channel, uint8_t position);
|
|
|
|
static const uint8_t Low = F_CPU/HAL::Prescaler/1000*1;
|
|
static const uint8_t Mid = F_CPU/HAL::Prescaler/1000*3/2;
|
|
static const uint8_t High = F_CPU/HAL::Prescaler/1000*2;
|
|
|
|
/** Interrupt handlers. */
|
|
void overflow();
|
|
void compare_a();
|
|
void compare_b();
|
|
|
|
private:
|
|
enum class State : uint8_t {
|
|
Start,
|
|
Centre,
|
|
};
|
|
|
|
static const int NumChannels = 6;
|
|
/** How much to offset the second channel. */
|
|
static const int Offset = Low/3;
|
|
|
|
uint8_t at_;
|
|
State state_;
|
|
volatile uint8_t position_[NumChannels];
|
|
static const uint8_t pins_[NumChannels];
|
|
};
|