yikestone/ros_arduino_bridge
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added support for rotating servos at different speeds

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This commit is contained in:
theroboticsheep 2015-04-18 18:29:53 -07:00
parent eda206f68c
commit e9810841b4
3 changed files with 31 additions and 15 deletions
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15
ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
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@ -265,12 +265,15 @@ void setup() {
#endif #endif
/* Attach servos if used */ /* Attach servos if used */
#ifdef USE_SERVOS #ifdef USE_SERVOS
int i; int i;
for (i = 0; i < N_SERVOS; i++) { for (i = 0; i < N_SERVOS; i++) {
servos[i].initServo(servoPins[i], servoInitPosition[i]); servos[i].initServo(
} servoPins[i],
#endif stepDelay[i],
servoInitPosition[i]);
}
#endif
} }
/* Enter the main loop. Read and parse input from the serial port /* Enter the main loop. Read and parse input from the serial port

23
ros_arduino_firmware/src/libraries/ROSArduinoBridge/servos.h
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@ -2,29 +2,38 @@
#define SERVOS_H #define SERVOS_H
#define N_SERVOS 1 #define N_SERVOS 2
// This delay in milliseconds determines determines the pause // This delay in milliseconds determines the pause
// between each one degree step the servo travels. Increasing // between each one degree step the servo travels. Increasing
// this number will make the servo sweep more slowly. // this number will make the servo sweep more slowly.
// Decreasing this number will make the servo sweep more quickly. // Decreasing this number will make the servo sweep more quickly.
#define SWEEP_COMMAND_INTERVAL 0 // ms // Zero is the default number and will make the servos spin at
// full speed. 150 ms makes them spin very slowly.
int stepDelay [N_SERVOS] = { 0, 0 }; // ms
byte servoPins [N_SERVOS] = { 3 }; // Pins
byte servoInitPosition [N_SERVOS] = { 90 }; // degrees byte servoPins [N_SERVOS] = { 3, 4 };
// Initial Position
byte servoInitPosition [N_SERVOS] = { 90, 90 }; // [0, 180] degrees
class SweepServo class SweepServo
{ {
public: public:
SweepServo(); SweepServo();
void initServo(int servoPin, int initPosition); void initServo(
int servoPin,
int stepDelayMs,
int initPosition);
void doSweep(); void doSweep();
void setTargetPosition(int position); void setTargetPosition(int position);
Servo getServo(); Servo getServo();
private: private:
Servo servo; Servo servo;
int stepDelayMs;
int currentPositionDegrees; int currentPositionDegrees;
int targetPositionDegrees; int targetPositionDegrees;
long lastSweepCommand; long lastSweepCommand;

8
ros_arduino_firmware/src/libraries/ROSArduinoBridge/servos.ino
View File

@ -22,9 +22,13 @@ SweepServo::SweepServo()
// Init // Init
void SweepServo::initServo(int servoPin, int initPosition) void SweepServo::initServo(
int servoPin,
int stepDelayMs,
int initPosition)
{ {
this->servo.attach(servoPin); this->servo.attach(servoPin);
this->stepDelayMs = stepDelayMs;
this->currentPositionDegrees = initPosition; this->currentPositionDegrees = initPosition;
this->targetPositionDegrees = initPosition; this->targetPositionDegrees = initPosition;
this->lastSweepCommand = millis(); this->lastSweepCommand = millis();
@ -39,7 +43,7 @@ void SweepServo::doSweep()
int delta = millis() - this->lastSweepCommand; int delta = millis() - this->lastSweepCommand;
// Check if time for a step // Check if time for a step
if (delta > SWEEP_COMMAND_INTERVAL) { if (delta > this->stepDelayMs) {
// Check step direction // Check step direction
if (this->targetPositionDegrees > this->currentPositionDegrees) { if (this->targetPositionDegrees > this->currentPositionDegrees) {
this->currentPositionDegrees++; this->currentPositionDegrees++;