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EVs_NXTServo.h
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EVs_NXTServo.h
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// EVs_NXTServo.h
//
// This is a class for controlling the NXT Servo Controller, made by Mindsensors.
// See http://www.mindsensors.com/index.php?module=pagemaster&PAGE_user_op=view_page&PAGE_id=93 .
// Initial version: 2010-06-17 by Andrew Sylvester.
// Modified for EVShield: 2015-02-16 by Michael Giles
// Large parts of the code is ported from the NXC library for the device,
// written by Deepak Patil.
/*
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#ifndef EVs_NXTServo_H
#define EVs_NXTServo_H
#define Servo_Command 0x41
#define Servo_Voltage 0x41
#define Servo_1 1
#define Servo_2 2
#define Servo_3 3
#define Servo_4 4
#define Servo_5 5
#define Servo_6 6
#define Servo_7 7
#define Servo_8 8
#define Servo_Position_Default 1500
#define Servo_Speed_Full 0
#define Servo_Position_1 0x5A
#define Servo_Position_2 0x5B
#define Servo_Position_3 0x5C
#define Servo_Position_4 0x5D
#define Servo_Position_5 0x5E
#define Servo_Position_6 0x5F
#define Servo_Position_7 0x60
#define Servo_Position_8 0x61
#define Servo_Speed_1 0x52
#define Servo_Speed_2 0x53
#define Servo_Speed_3 0x54
#define Servo_Speed_4 0x55
#define Servo_Speed_5 0x56
#define Servo_Speed_6 0x57
#define Servo_Speed_7 0x58
#define Servo_Speed_8 0x59
#include "EVShieldI2C.h"
/**
@brief This class interfaces with NXTServo attached to EVShield
*/
class EVs_NXTServo : public EVShieldI2C
{
public:
/** class constructor for the NXTServo with optional custom i2c address parameter */
EVs_NXTServo(uint8_t i2c_address = 0xb0);
/** issue a character command byte to the command register of the NXTServo */
uint8_t issueCommand(char command);
/** get the battery voltage supplied to the NXTServo */
uint8_t getBatteryVoltage();
/** store current settings of the given servo to initial default setting and remember when powered on */
bool storeInitial(uint8_t number);
/** reset all servos to default */
bool reset();
/** stop the onboard macro on the NXTServo */
bool haltMacro();
/** resume the onboard macro on the NXTServo */
bool resumeMacro();
/** Go to given EEPROM position (This command re-initializes the macro environment) */
bool gotoEEPROM(uint8_t position);
/** edit the onboard macro */
bool editMacro();
/** temporarily pause the running macro */
bool pauseMacro();
/** set the speed of a specified servo */
bool setSpeed(uint8_t number, uint8_t speed);
/** set the position of a specified servo */
bool setPosition(uint8_t number, uint8_t position);
/** run the specified to the specified position at the specified speed */
void runServo(uint8_t number, uint8_t position, uint8_t speed);
};
#endif