Mrm_servo Class Reference

Public Member Functions
	Mrm_servo (Robot *robot=NULL)
void	add (uint8_t gpioPin=16, char *deviceName=(char *)"", uint16_t minDegrees=0, uint16_t maxDegrees=180, float minDegreesPulseMs=1, float maxDegreesPulseMs=2, uint8_t timerWidth=12)
void	sweep ()
void	test ()
void	write (uint16_t degrees=90, uint8_t servoNumber=0)
void	writeInteractive ()

Constructor & Destructor Documentation

Mrm_servo()

Mrm_servo::Mrm_servo

(

Robot *

robot = NULL

)

Constructor

Parameters

robot

- robot containing this board

Member Function Documentation

add()

void Mrm_servo::add	(	uint8_t	gpioPin = 16,
		char *	deviceName = (char *)"",
		uint16_t	minDegrees = 0,
		uint16_t	maxDegrees = 180,
		float	minDegreesPulseMs = 1,
		float	maxDegreesPulseMs = 2,
		uint8_t	timerWidth = 12
	)

Add a servo motor

Parameters

gpioPin	- pin number, allowed: 0 - 19, 21 - 23, 25 - 27, 32 - 36, 39
deviceName	- device's name
minDegrees	- minimum servo angle
maxDegrees	- maximum servo angle
minDegreesPulseMicroSec	- pulse ms for minimum angle
maxDegreesPulseMicroSec	- pulse ms for maximum angle
timerWidth	- timer width in bits, 1 - 16. 12 yields angle resolution of about 1�

Add a servo motor

Parameters

gpioPin	- pin number, allowed: 0 - 19, 21 - 23, 25 - 27, 32 - 36, 39
deviceName	- device's name
minDegrees	- minimum servo angle
maxDegrees	- maximum servo angle
minDegreesPulseMicroSec	- pulse ms for minimum angle
maxDegreesPulseMicroSec	- pulse ms for maximum angle
timerWidth	- timer width in bits, 1 - 16. 12 yields angle resolution of about 1�.

test()

void Mrm_servo::test

(

)

Test

write()

void Mrm_servo::write	(	uint16_t	degrees = 90,
		uint8_t	servoNumber = 0
	)

Move servo

Parameters

degrees	- Servo's target angle, 0 - 180�, or 0 - 360�, depending on model, counting clockwise
servoNumber	- Servo's ordinal number. Each call of function add() assigns a increasing number to the servo, starting with 0.

writeInteractive()

void Mrm_servo::writeInteractive

(

)

Position servo according to user input.

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The documentation for this class was generated from the following files:

• C:/Users/priba/Documents/PlatformIO/Projects/MRMS/lib/mrm-servo/src/mrm-servo.h
• C:/Users/priba/Documents/PlatformIO/Projects/MRMS/lib/mrm-servo/src/mrm-servo.cpp