Class AmebaServo

AmebaServo Class

Description

A class used for controlling servo motors connected to Ameba boards.

Syntax

class AmebaServo

Members

Public Constructors
AmebaServo::AmebaServo	Constructs an AmebaServo object.
Public Methods
AmebaServo::attach	Attach a PWM pin to control servo.
AmebaServo::detach	Detach the servo.
AmebaServo::write	Write a value to control servo. The value is between 0 - 180 degrees.
AmebaServo::writeMicroseconds	Write a value to control servo. The value is between 544 - 2400us.
AmebaServo::read	Read the value from servo and returns current pulse width as an angle between 0 and 180 degrees.
AmebaServo::readMicroseconds	Read the value from servo and returns current pulse width in microseconds.
AmebaServo::attached	Check if the servo is attached.

AmebaServo::attach

Description

Attach a PWM pin to control servo on Ameba boards. Minimum and maximum pulse width can be set optionally.

Syntax

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

Parameters

pin: A PWM pin that is one of the Ameba boards’ PWM pins.

min: Minimum pulse width to be set for PWM. Default value is 544us.

max: Maximum pulse width to be set for PWM. Default value is 2400us.

Returns

0

Example Code

Example: ServoSweep

The code demonstrates a servo motor sweeping from 0 - 180 - 0 degrees, in 1-degree intervals.

Note

“AmebaServo.h” must be included to use the class function.

AmebaServo::detach

Description

Detach the servo by disabling the PWM pin previously set in attach().

Syntax

void detach(void);

Parameters

NA

Returns

NA

Example Code

NA

Note

“AmebaServo.h” must be included to use the class function.

AmebaServo::write

Description

Write an integer value to control servo. The value is between 0 - 180 degrees.

Syntax

void write(int value);

Parameters

value: An integer value.

0 to 180 (If the value is < 0, it will be taken as 0 and if the value >180, it will be taken as 180)

Returns

NA

Example Code

Example: ServoSweep

Note

“AmebaServo.h” must be included to use the class function.

AmebaServo::writeMicroseconds

Description

Write a value to control servo. The value is between 544 - 2400us that represents pulse width.

Syntax

void writeMicroseconds(int value);

Parameters

value: An integer value (us) as pulse width.

544 to 2400 (If the value is < 544, it will be taken as 544 and if the value > 2400, it will be taken as 2400)

Returns

NA

Example Code

NA

Note

“AmebaServo.h” must be included to use the class function.

AmebaServo::read

Description

The function reads the value from servo and returns current pulse width as an angle between 0 - 180 degrees.

Syntax

int read(void);

Parameters

NA

Returns

This function returns integer value that represents pulse width between 0 - 180 degrees.

Example Code

NA

Note

“AmebaServo.h” must be included to use the class function.

AmebaServo::readMicroseconds

Description

The function reads and returns the pulse width of the current servo in microseconds.

Syntax

int readMicroseconds(void);

Parameters

NA

Returns

This function returns an integer value that represents pulse width in microseconds.

Example Code

NA

Note

“AmebaServo.h” must be included to use the class function.

AmebaServo::attached

Description

Check if the servo PWM pin is attached successfully.

Syntax

bool attached(void);

Parameters

NA

Returns

This function returns 1 if the servo has been attached, else it returns 0.

Example Code

Example: ServoSweep

Note

“AmebaServo.h” must be included to use the class function.