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