servo, TIM11

Author: gbr1

examples/servo/servo.ino

@@ -0,0 +1,16 @@
+#include "Arduino_Robot_Firmware.h"
+
+Arduino_Robot_Firmware robot;
+
+void setup(){
+    robot.begin();
+}
+
+void loop(){
+    for(int i=0; i<180; i++){
+        robot.setServoA(i);
+        robot.setServoB(i);
+        delay(15);
+    }
+    delay(5000);
+}

src/Arduino_Robot_Firmware.cpp

@@ -21,6 +21,10 @@ Arduino_Robot_Firmware::Arduino_Robot_Firmware(){
 
     // color sensor
     apds9960 = new APDS9960(*wire,APDS_INT);
+
+    // servo
+    servo_A = new Servo();
+    servo_B = new Servo();
 }
 
 int Arduino_Robot_Firmware::begin(){
@@ -44,6 +48,7 @@ int Arduino_Robot_Firmware::begin(){
     wire->begin();
 
     beginAPDS();
+    beginServo();
 
     return 0;
 }
@@ -97,4 +102,22 @@ int Arduino_Robot_Firmware::getBlue(){
 
 int Arduino_Robot_Firmware::getProximity(){
     return bottom_proximity;
+}
+
+/******************************************************************************************************/
+/*                                        RC Servo A & B                                              */
+/******************************************************************************************************/
+
+int Arduino_Robot_Firmware::beginServo(){
+    servo_A->attach(SERVO_A);
+    servo_B->attach(SERVO_B);
+    return 0;
+}
+
+void Arduino_Robot_Firmware::setServoA(int position){
+    servo_A->write(position);
+}
+
+void Arduino_Robot_Firmware::setServoB(int position){
+    servo_B->write(position);
 }

src/Arduino_Robot_Firmware.h

@@ -8,12 +8,16 @@
 #include "dcmotor.h"
 #include "motor_control.h"
 #include "Arduino_APDS9960.h"
+#include <Servo.h>
 
 class Arduino_Robot_Firmware{
     private:
         APDS9960 * apds9960;
         int bottom_red, bottom_green, bottom_blue, bottom_clear, bottom_proximity;
 
+        Servo * servo_A;
+        Servo * servo_B;
+
     public:
         RGBled * led1;
         RGBled * led2;
@@ -42,6 +46,12 @@ class Arduino_Robot_Firmware{
         int getGreen();                             // green value 0-255
         int getBlue();                              // blue value 0-255
         int getProximity();                         // proximity value 0-127
+
+
+        // Servo
+        int beginServo();                           // initialize Servo interfaces
+        void setServoA(int position);              // 0°-180° servo position
+        void setServoB(int position);              // 0°-180° servo position
 };
 
 #endif