AmebaServo Class

Description

Defines a class of manipulating servo motors connected to Arduino pins.

Syntax

class AmebaServo

Members

Public Constructors
AmebaServo::AmebaServo	Constructs an AmebaServo object.
Public Methods
AmebaServo::attach	Attach the given pin to the next free channel.
AmebaServo::detach	Detach the servo.
AmebaServo::write	Write value, if the value is < 200 it's treated as an angle, otherwise as pulse-width in microseconds.
AmebaServo::writeMicroseconds	Write pulse width in microseconds.
AmebaServo::read	Output current pulse width as an angle between 0 and 180 degrees.
AmebaServo::readMicroseconds	Output current pulse width in microseconds for this servo.
AmebaServo::attached	Check if the servo is attached.

AmebaServo::attach

Description

Attach the given pin to the next free channel, sets pinMode (including minimum and maximum values for writes), returns channel number, or 0 if failure.

Syntax

uint8_t attach(int pin);

uint8_t attach(int pin, int min, int max);

Parameters

pin: ThThe Arduino/Ameba1 PIN to be attachede Arduino pin number to be attached.

min: Minimum values for writes.

max: Maximum values for writes.

Returns

The function returns channel number or 0

Example Code

Example: ServoSweep

The code demos servo motor sweeping from 0 degrees to 180 degrees then sweep back to 0 degrees in the step of 1 degree.

    /* Sweep 
 by BARRAGAN < http://barraganstudio.com > 
 This example code is in the public domain. 
 
 modified 8 Nov 2013 
 by Scott Fitzgerald 
 http://www.arduino.cc/en/Tutorial/Sweep 
 
 refined 2016/03/18 by Realtek 
*/  
  
#include "AmebaServo.h"  
  
// create servo object to control a servo  
// 4 servo objects can be created correspond to PWM pins  
AmebaServo myservo;  
  
// variable to store the servo position  
int pos = 0;  
  
void setup() {  
#if defined(BOARD_RTL8195A)  
    // attaches the servo on pin 9 to the servo object  
    myservo.attach(9);  
#elif defined(BOARD_RTL8710)  
    // attaches the servo on pin 13 to the servo object  
    myservo.attach(13);  
#elif defined(BOARD_RTL8721D)  
    // attaches the servo on pin 8 to the servo object  
    myservo.attach(8);  
#else  
    // attaches the servo on pin 9 to the servo object  
    myservo.attach(9);  
#endif  
}  
  
void loop() {  
    // goes from 0 degrees to 180 degrees in steps of 1 degree  
    for (pos = 0; pos <= 180; pos += 1) {  
        // tell servo to go to position in variable 'pos'  
        myservo.write(pos);  
        // waits 15ms for the servo to reach the position  
        delay(15);  
    }  
  
    // goes from 180 degrees to 0 degrees  
    for (pos = 180; pos >= 0; pos -= 1) {  
        // tell servo to go to position in variable 'pos'  
        myservo.write(pos);  
        // waits 15ms for the servo to reach the position  
        delay(15);  
    }  
}

Notes and Warnings

Every time must include the header file “AmebaServo.h” in front of the project to use the class function.

AmebaServo::detach

Description

Detach the servo.

Syntax

void AmebaServo::detach(void);

Parameters

The function requires no input parameter.

Returns

The function returns nothing.

Example Code

Notes and Warnings

Every time must include the header file “AmebaServo.h” in front of the project to use the class function.

AmebaServo::write

Description

Write an integer value to the function, if the value is < 200, it’s being treated as an angle, otherwise as pulse-width in microseconds.

Syntax

void AmebaServo::write(int value);

Parameters

value: The value < 200 its treated as an angle; otherwise as pulse width in microseconds.

Returns

The function returns nothing.

Example Code

Example: ServoSweep

The code demos servo motor sweeping from 0 degrees to 180 degrees then sweep back to 0 degrees in the step of 1 degree. Please refer to code in “AmebaServo:: attach” section.

Notes and Warnings

Every time must include the header file “AmebaServo.h” in front of the project to use the class function.

AmebaServo::writeMicroseconds

Description

Write pulse width to the servo in microseconds.

Syntax

void AmebaServo::writeMicroseconds(int value);

Parameters

value: Write value the pulse width in microseconds.

Returns

The function returns nothing.

Example Code

Notes and Warnings

Every time must include the header file “AmebaServo.h” in front of the project to use the class function.

AmebaServo::read

Description

The function reads current pulse width and returns as an angle between 0 and 180 degrees.

Syntax

int AmebaServo::read(void);

Parameters

The function requires no input parameter.

Returns

The pulse width as an angle between 0 ~ 180 degrees.

Example Code

Notes and Warnings

Every time must include the header file “AmebaServo.h” in front of the project to use the class function.

AmebaServo::readMicroseconds

Description

The function returns a Boolean value “true” if this servo is attached, otherwise returns “false”.

Syntax

int AmebaServo::readMicroseconds(void);

Parameters

The function requires no input parameter.

Returns

The function returns current servo pulse width in microseconds.

Example Code

Notes and Warnings

Every time must include the header file “AmebaServo.h” in front of the project to use the class function.

AmebaServo::attached

Description

It returns true if this servo is attached, otherwise false.

Syntax

bool AmebaServo::attached(void);

Parameters

The function requires no input parameter.

Returns

The function returns a Boolean value as true or false.

Example Code

Example: ServoSweep

The code demos servo motor sweeping from 0 degrees to 180 degrees then sweep back to 0 degrees in the step of 1 degree. Please refer to code in “AmebaServo:: attach” section.

Notes and Warnings

Every time must include the header file “AmebaServo.h” in front of the project to use the class function.

AmebaServo Class