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SlowMotionServo.h
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SlowMotionServo.h
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/*
* Slow Motion Servo Library for Arduino
*
* Copyright Jean-Luc Béchennec 2015
*
* This software is distributed under the GNU Public Licence v2 (GPLv2)
*
* Please read the LICENCE file
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
* DEALINGS IN THE SOFTWARE.
*/
#ifndef __SlowMotionServo_h__
#define __SlowMotionServo_h__
#include "Arduino.h"
#include <Servo.h>
class SlowMotionServo : public Servo
{
private:
byte mPin; // connection pin
byte mState:3; // state of the servo
bool mDetachAtMin:1;
bool mDetachAtMax:1;
unsigned int mMinPulse; // minimum position of the servo in microseconds
unsigned int mMaxPulse; // maximum position of the servo in microseconds
unsigned long mStartTime; // time when the movement begin
float mInitialRelativeTime; // starting position-time of the servo
float mTargetRelativeTime; // target position-time of the servo
float mCurrentRelativeTime; // current position-time of the servo
float mTimeFactorUp; // time factor of a millis for movement from min to max
float mTimeFactorDown; // time factor of a millis for movement from max to min
SlowMotionServo *mNext; // next servo in the list
static SlowMotionServo *sServoList; // head of the servo list
static unsigned int sDelayUntilStop;
void updatePosition(); // update the position of the servo
void updatePulseAccordingToMinMax();
public:
SlowMotionServo();
SlowMotionServo(byte pin);
void setPin(byte pin) { mPin = pin; }
void setMinMax(unsigned int minPulse, unsigned int maxPulse);
void setMin(unsigned int minPulse);
void setMax(unsigned int maxPulse);
void setMinToMaxSpeed(float speed) { mTimeFactorUp = speed / 10000.0; }
void setMaxToMinSpeed(float speed) { mTimeFactorDown = speed / 10000.0; }
void setSpeed(float speed) { mTimeFactorUp = mTimeFactorDown = speed / 10000.0; }
void setInitialPosition(float position);
void setDetachAtMin(bool detach) { mDetachAtMin = detach; }
void setDetachAtMax(bool detach) { mDetachAtMax = detach; }
void setDetach(bool detach) { mDetachAtMin = mDetachAtMax = detach; }
void goTo(float position);
void goToMin() { goTo(0.0); }
void goToMax() { goTo(1.0); }
bool isStopped();
virtual float slopeUp(float time) = 0;
virtual float slopeDown(float time) = 0;
static void update();
static void setDelayUntilStop(unsigned int delayUntilStop);
};
class SMSLinear : public SlowMotionServo
{
public:
virtual float slopeUp(float time);
virtual float slopeDown(float time);
float slope(float time) { return time; }
};
class SMSSmooth : public SlowMotionServo
{
public:
virtual float slopeUp(float time);
virtual float slopeDown(float time);
float slope(float time) { return (1.0 - cos(time * PI))/2.0; }
};
class SMSSmoothBounce : public SlowMotionServo
{
public:
virtual float slopeUp(float time);
virtual float slopeDown(float time);
};
#endif