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oServo Class Reference

Controls a servo motor. More...

#include <oservo.h>

Public Member Functions
	oServo (IOLINE channel)
	constructor specifying pin attached to TPU
void	value (DEGREE v)
void	center (void)
void	callibrate (MICROSECOND left, MICROSECOND right)
void	left (void)
	positions servo to left position (0 degrees)
void	right (void)
	positions servo to center position (180 degrees)
Protected Member Functions
void	ioline (IOLINE channel)
	oServo (void)
Private Attributes
MICROSECOND	_left
MICROSECOND	_right

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Detailed Description

Controls a servo motor.

Operation

An oServo Object positions a RC servo motor connected to the I/O Line specified by the IOLine method to a position specified by the value method. 0 degrees is left, 90 is center, and 180 is right.

Remarks

The oServo object must first be callibrated for your servo. The default left is 0.52 milliseconds, and right is 2.7 milliseconds. Be sure to specify these in microseconds; i.e., 520 and 2700 for default values. Feel free to change the system clock (SIM) or (TPU) prescaler as the oServo has been coded to reflect different clock speeds and TPU prescalers, but it must be possible to specify the operating range of a oServo object within the new values.

Sample Code

#include <oservo.h>

int main()
{
int i;
oServo servo(15);
  servo.value(45);      // testing to ensure doesn't move until operate is on.
  servo.operate(true);
  
  servo.callibrate(520,2700);
  for (unsigned int j=0; j<=10; j++)
  {
    servo.right();
    for (i=0; i<=500000; i++) ; // 100000 = 1/2 second
    servo.left();
    for (i=0; i<=500000; i++) ; // 100000 = 1/2 second
  }
  servo.center();
}

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Constructor & Destructor Documentation

oServo (  IOLINE  channel  )

constructor specifying pin attached to TPU

oServo (  void   )  [protected]

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Member Function Documentation

void callibrate (  MICROSECOND  left, MICROSECOND  right )

Parameters: MICROSECOND  left: left position in microseconds. MICROSECOND  right: right position in microseconds.

void center (  void   )

void ioline (  IOLINE  channel  )  [protected]

void left (  void   )

positions servo to left position (0 degrees)

void right (  void   )

positions servo to center position (180 degrees)

void value (  DEGREE  v  )

position servo to v degrees. From 0 (left) to 180 right. positions servo to center position (90 degrees)

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Field Documentation

MICROSECOND _left [private]

MICROSECOND _right [private]

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