pimoroni-pico/drivers/servo/servo_cluster.hpp

125 wiersze
6.2 KiB
C++

#pragma once
#include "pico/stdlib.h"
#include "pwm_cluster.hpp"
#include "servo_state.hpp"
using namespace pimoroni;
namespace servo {
class ServoCluster {
//--------------------------------------------------
// Variables
//--------------------------------------------------
public:
static const uint MAX_SERVO_CHANNELS = 32;
private:
PWMCluster pwms;
uint32_t pwm_period;
float pwm_frequency;
ServoState states[MAX_SERVO_CHANNELS];
float servo_phases[MAX_SERVO_CHANNELS];
//--------------------------------------------------
// Constructors/Destructor
//--------------------------------------------------
public:
ServoCluster(PIO pio, uint sm, uint pin_mask, CalibrationType default_type = ANGULAR, float freq = ServoState::DEFAULT_FREQUENCY, bool auto_phase = true);
ServoCluster(PIO pio, uint sm, uint pin_base, uint pin_count, CalibrationType default_type = ANGULAR, float freq = ServoState::DEFAULT_FREQUENCY, bool auto_phase = true);
ServoCluster(PIO pio, uint sm, const uint8_t *pins, uint32_t length, CalibrationType default_type = ANGULAR, float freq = ServoState::DEFAULT_FREQUENCY, bool auto_phase = true);
ServoCluster(PIO pio, uint sm, std::initializer_list<uint8_t> pins, CalibrationType default_type = ANGULAR, float freq = ServoState::DEFAULT_FREQUENCY, bool auto_phase = true);
ServoCluster(PIO pio, uint sm, uint pin_mask, const Calibration& calibration, float freq = ServoState::DEFAULT_FREQUENCY, bool auto_phase = true);
ServoCluster(PIO pio, uint sm, uint pin_base, uint pin_count, const Calibration& calibration, float freq = ServoState::DEFAULT_FREQUENCY, bool auto_phase = true);
ServoCluster(PIO pio, uint sm, const uint8_t *pins, uint32_t length, const Calibration& calibration, float freq = ServoState::DEFAULT_FREQUENCY, bool auto_phase = true);
ServoCluster(PIO pio, uint sm, std::initializer_list<uint8_t> pins, const Calibration& calibration, float freq = ServoState::DEFAULT_FREQUENCY, bool auto_phase = true);
~ServoCluster();
//--------------------------------------------------
// Methods
//--------------------------------------------------
public:
bool init();
uint8_t count() const;
uint8_t pin(uint8_t servo) const;
void enable(uint8_t servo, bool load = true);
void enable(const uint8_t *servos, uint8_t length, bool load = true);
void enable(std::initializer_list<uint8_t> servos, bool load = true);
void enable_all(bool load = true);
void disable(uint8_t servo, bool load = true);
void disable(const uint8_t *servos, uint8_t length, bool load = true);
void disable(std::initializer_list<uint8_t> servos, bool load = true);
void disable_all(bool load = true);
bool is_enabled(uint8_t servo) const;
float pulse(uint8_t servo) const;
void pulse(uint8_t servo, float pulse, bool load = true);
void pulse(const uint8_t *servos, uint8_t length, float pulse, bool load = true);
void pulse(std::initializer_list<uint8_t> servos, float pulse, bool load = true);
void all_to_pulse(float pulse, bool load = true);
float value(uint8_t servo) const;
void value(uint8_t servo, float value, bool load = true);
void value(const uint8_t *servos, uint8_t length, float value, bool load = true);
void value(std::initializer_list<uint8_t> servos, float value, bool load = true);
void all_to_value(float value, bool load = true);
float phase(uint8_t servo) const;
void phase(uint8_t servo, float phase, bool load = true);
void phase(const uint8_t *servos, uint8_t length, float phase, bool load = true);
void phase(std::initializer_list<uint8_t> servos, float phase, bool load = true);
void all_to_phase(float phase, bool load = true);
float frequency() const;
bool frequency(float freq);
//--------------------------------------------------
float min_value(uint8_t servo) const;
float mid_value(uint8_t servo) const;
float max_value(uint8_t servo) const;
void to_min(uint8_t servo, bool load = true);
void to_min(const uint8_t *servos, uint8_t length, bool load = true);
void to_min(std::initializer_list<uint8_t> servos, bool load = true);
void all_to_min(bool load = true);
void to_mid(uint8_t servo, bool load = true);
void to_mid(const uint8_t *servos, uint8_t length, bool load = true);
void to_mid(std::initializer_list<uint8_t> servos, bool load = true);
void all_to_mid(bool load = true);
void to_max(uint8_t servo, bool load = true);
void to_max(const uint8_t *servos, uint8_t length, bool load = true);
void to_max(std::initializer_list<uint8_t> servos, bool load = true);
void all_to_max(bool load = true);
void to_percent(uint8_t servo, float in, float in_min = ServoState::ZERO_PERCENT, float in_max = ServoState::ONEHUNDRED_PERCENT, bool load = true);
void to_percent(const uint8_t *servos, uint8_t length, float in, float in_min = ServoState::ZERO_PERCENT, float in_max = ServoState::ONEHUNDRED_PERCENT, bool load = true);
void to_percent(std::initializer_list<uint8_t> servos, float in, float in_min = ServoState::ZERO_PERCENT, float in_max = ServoState::ONEHUNDRED_PERCENT, bool load = true);
void all_to_percent(float in, float in_min = ServoState::ZERO_PERCENT, float in_max = ServoState::ONEHUNDRED_PERCENT, bool load = true);
void to_percent(uint8_t servo, float in, float in_min, float in_max, float value_min, float value_max, bool load = true);
void to_percent(const uint8_t *servos, uint8_t length, float in, float in_min, float in_max, float value_min, float value_max, bool load = true);
void to_percent(std::initializer_list<uint8_t> servos, float in, float in_min, float in_max, float value_min, float value_max, bool load = true);
void all_to_percent(float in, float in_min, float in_max, float value_min, float value_max, bool load = true);
Calibration& calibration(uint8_t servo);
const Calibration& calibration(uint8_t servo) const;
void load();
//--------------------------------------------------
private:
void apply_pulse(uint8_t servo, float pulse, bool load);
void create_servo_states(CalibrationType default_type, bool auto_phase);
void create_servo_states(const Calibration& calibration, bool auto_phase);
};
}