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Added overloaded function ServoTimer2::attach(int pin, int min_pulse_width, int max_pulse_width) #5

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Added overloaded function ServoTimer2::attach(int pin, int min_pulse_width, int max_pulse_width) #5

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04479fa
Update ServoTimer2.cpp
ld21 Nov 13, 2017
43dfb53
Update ServoTimer2.h
ld21 Nov 13, 2017
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24 changes: 20 additions & 4 deletions ServoTimer2.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,11 @@ static volatile uint8_t ISRCount; // iteration counter used in the interrupt ro
uint8_t ChannelCount = 0; // counter holding the number of attached channels
static boolean isStarted = false; // flag to indicate if the ISR has been initialised

// Hinzugefügt von Daniel Süsstrunk, 13. November 2017
int min_pulse_width = 750; // shortest pulse width
int max_pulse_width = 2250; // longest pulse width
// Ende Hinzugefügt von Daniel Süsstrunk, 13. November 2017

ISR (TIMER2_OVF_vect)
{
++ISRCount; // increment the overlflow counter
Expand Down Expand Up @@ -69,6 +74,17 @@ uint8_t ServoTimer2::attach(int pin)
return this->chanIndex ;
}


// Hinzugefügt von Daniel Süsstrunk, 13. November 2017
uint8_t ServoTimer2::attach(int pin, int min, int max)
{
min_pulse_width = min;
max_pulse_width = max;
return ServoTimer2::attach(pin);
}
// Ende Hinzugefügt von Daniel Süsstrunk, 13. November 2017


void ServoTimer2::detach()
{
servos[this->chanIndex].Pin.isActive = false;
Expand Down Expand Up @@ -99,10 +115,10 @@ static void writeChan(uint8_t chan, int pulsewidth)
// calculate and store the values for the given channel
if( (chan > 0) && (chan <= NBR_CHANNELS) ) // ensure channel is valid
{
if( pulsewidth < MIN_PULSE_WIDTH ) // ensure pulse width is valid
pulsewidth = MIN_PULSE_WIDTH;
else if( pulsewidth > MAX_PULSE_WIDTH )
pulsewidth = MAX_PULSE_WIDTH;
if( pulsewidth < min_pulse_width ) // ensure pulse width is valid
pulsewidth = min_pulse_width;
else if( pulsewidth > max_pulse_width )
pulsewidth = max_pulse_width;

pulsewidth -=DELAY_ADJUST; // subtract the time it takes to process the start and end pulses (mostly from digitalWrite)
servos[chan].counter = pulsewidth / 128;
Expand Down
4 changes: 0 additions & 4 deletions ServoTimer2.h
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Expand Up @@ -76,10 +76,6 @@ The pulse width timing is accurate to within 1%
//typedef uint8_t boolean;
//typedef uint8_t byte;

#define MIN_PULSE_WIDTH 750 // the shortest pulse sent to a servo

#define MAX_PULSE_WIDTH 2250 // the longest pulse sent to a servo

#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached

#define FRAME_SYNC_PERIOD 20000 // total frame duration in microseconds
Expand Down