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王立帮
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arduino-cli/libraries/ESP32_Servo/ESP32_Servo.h
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arduino-cli/libraries/ESP32_Servo/ESP32_Servo.h
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/*
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Copyright (c) 2017 John K. Bennett. All right reserved.
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ESP32_Servo.h - Servo library for ESP32 - Version 1
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Original Servo.h written by Michael Margolis in 2009
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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/*
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A servo is activated by creating an instance of the Servo class, and passing
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the desired GPIO pin to the attach() method.
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The servos are pulsed in the background using the value most recently
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written using the write() method.
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The class methods are:
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Servo - Class for manipulating servo motors connected to ESP32 pins.
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int attach(pin ) - Attaches the given GPIO pin to the next free channel
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(channels that have previously been detached are used first),
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returns channel number or 0 if failure. All pin numbers are allowed,
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but only pins 2,4,12-19,21-23,25-27,32-33 are recommended.
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int attach(pin, min, max ) - Attaches to a pin setting min and max
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values in microseconds; enforced minimum min is 500, enforced max
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is 2500. Other semantics same as attach().
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void write () - Sets the servo angle in degrees; a value below 500 is
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treated as a value in degrees (0 to 180). These limit are enforced,
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i.e., values are treated as follows:
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Value Becomes
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----- -------
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< 0 0
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0 - 180 value (treated as degrees)
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181 - 499 180
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500 - (min-1) min
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min-max (from attach or default) value (treated as microseconds)
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(max+1) - 2500 max
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void writeMicroseconds() - Sets the servo pulse width in microseconds.
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min and max are enforced (see above).
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int read() - Gets the last written servo pulse width as an angle between 0 and 180.
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int readMicroseconds() - Gets the last written servo pulse width in microseconds.
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bool attached() - Returns true if this servo instance is attached.
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void detach() - Stops an the attached servo, frees its attached pin, and frees
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its channel for reuse).
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*** ESP32-specific functions **
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setTimerWidth(value) - Sets the PWM timer width (must be 16-20) (ESP32 ONLY);
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as a side effect, the pulse width is recomputed.
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int readTimerWidth() - Gets the PWM timer width (ESP32 ONLY)
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*/
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#ifndef ESP32_Servo_h
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#define ESP32_Servo_h
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// Values for TowerPro MG995 large servos (and many other hobbyist servos)
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#define DEFAULT_uS_LOW 1000 // 1000us
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#define DEFAULT_uS_HIGH 2000 // 2000us
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// Values for TowerPro SG90 small servos
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//#define DEFAULT_uS_LOW 400
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//#define DEFAULT_uS_HIGH 2400
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#define DEFAULT_TIMER_WIDTH 16
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#define DEFAULT_TIMER_WIDTH_TICKS 65536
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#define ESP32_Servo_VERSION 1 // software version of this library
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#define MIN_PULSE_WIDTH 500 // the shortest pulse sent to a servo
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#define MAX_PULSE_WIDTH 2500 // the longest pulse sent to a servo
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#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached
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#define DEFAULT_PULSE_WIDTH_TICKS 4825
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#define REFRESH_CPS 50
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#define REFRESH_USEC 20000
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#define MAX_SERVOS 16 // no. of PWM channels in ESP32
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/*
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* This group/channel/timmer mapping is for information only;
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* the details are handled by lower-level code
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*
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* LEDC Chan to Group/Channel/Timer Mapping
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** ledc: 0 => Group: 0, Channel: 0, Timer: 0
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** ledc: 1 => Group: 0, Channel: 1, Timer: 0
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** ledc: 2 => Group: 0, Channel: 2, Timer: 1
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** ledc: 3 => Group: 0, Channel: 3, Timer: 1
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** ledc: 4 => Group: 0, Channel: 4, Timer: 2
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** ledc: 5 => Group: 0, Channel: 5, Timer: 2
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** ledc: 6 => Group: 0, Channel: 6, Timer: 3
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** ledc: 7 => Group: 0, Channel: 7, Timer: 3
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** ledc: 8 => Group: 1, Channel: 0, Timer: 0
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** ledc: 9 => Group: 1, Channel: 1, Timer: 0
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** ledc: 10 => Group: 1, Channel: 2, Timer: 1
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** ledc: 11 => Group: 1, Channel: 3, Timer: 1
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** ledc: 12 => Group: 1, Channel: 4, Timer: 2
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** ledc: 13 => Group: 1, Channel: 5, Timer: 2
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** ledc: 14 => Group: 1, Channel: 6, Timer: 3
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** ledc: 15 => Group: 1, Channel: 7, Timer: 3
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*/
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class Servo
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{
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public:
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Servo();
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// Arduino Servo Library calls
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int attach(int pin); // attach the given pin to the next free channel, returns channel number or 0 if failure
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int attach(int pin, int min, int max); // as above but also sets min and max values for writes.
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void detach();
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void write(int value); // if value is < MIN_PULSE_WIDTH its treated as an angle, otherwise as pulse width in microseconds
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void writeMicroseconds(int value); // Write pulse width in microseconds
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int read(); // returns current pulse width as an angle between 0 and 180 degrees
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int readMicroseconds(); // returns current pulse width in microseconds for this servo
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bool attached(); // return true if this servo is attached, otherwise false
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// ESP32 only functions
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void setTimerWidth(int value); // set the PWM timer width (ESP32 ONLY)
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int readTimerWidth(); // get the PWM timer width (ESP32 ONLY)
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private:
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int usToTicks(int usec);
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int ticksToUs(int ticks);
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static int ServoCount; // the total number of attached servos
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static int ChannelUsed[]; // used to track whether a channel is in service
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int servoChannel = 0; // channel number for this servo
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int min = DEFAULT_uS_LOW; // minimum pulse width for this servo
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int max = DEFAULT_uS_HIGH; // maximum pulse width for this servo
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int pinNumber = 0; // GPIO pin assigned to this channel
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int timer_width = DEFAULT_TIMER_WIDTH; // ESP32 allows variable width PWM timers
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int ticks = DEFAULT_PULSE_WIDTH_TICKS; // current pulse width on this channel
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int timer_width_ticks = DEFAULT_TIMER_WIDTH_TICKS; // no. of ticks at rollover; varies with width
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};
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#endif
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