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Servo class in 4.3.1

Started by dorathoto, Mar 26 2014 08:50 PM

Best Answer dorathoto, 27 March 2014 - 09:51 PM

follows my current class, for those who need!

 

missing codes: 
. Start () and minor modifications to work in the new 4.3.1
Netduino 2 plus - servo generic hobby king
using System;
using Microsoft.SPOT;
using Microsoft.SPOT.Hardware;
using SecretLabs.NETMF.Hardware;
using SecretLabs.NETMF.Hardware.Netduino;


namespace Servo_API
{
    public class Servo : IDisposable
    {
        /// <summary>
        /// PWM handle
        /// </summary>
        private PWM servo;


        /// <summary>
        /// Timings range
        /// </summary>
        private int[] range = new int[2];


        /// <summary>
        /// Set servo inversion
        /// </summary>
        public bool inverted = false;


        /// <summary>
        /// Create the PWM Channel, set it low and configure timings
        /// </summary>
        /// <param name="pin"></param>
        public Servo(Cpu.PWMChannel channelPin)
        {
            // Init the PWM pin
           // servo = new PWM((Cpu.PWMChannel)channelPin, 20000, 1500, PWM.ScaleFactor.Microseconds, false);
            servo = new PWM(PWMChannels.PWM_PIN_D5, 20000, 1500, Microsoft.SPOT.Hardware.PWM.ScaleFactor.Microseconds, false);
            servo.Period = 20000;
     
            // Typical settings
            range[0] = 1000;
            range[1] = 2000;
        }


        public void Dispose()
        {
            disengage();
            servo.Dispose();
        }


        /// <summary>
        /// Allow the user to set cutom timings
        /// </summary>
        /// <param name="fullLeft"></param>
        /// <param name="fullRight"></param>
        public void setRange(int fullLeft, int fullRight)
        {
            range[1] = fullLeft;
            range[0] = fullRight;
        }


        /// <summary>
        /// Disengage the servo. 
        /// The servo motor will stop trying to maintain an angle
        /// </summary>
        public void disengage()
        {
            // See what the Netduino team say about this... 
            servo.DutyCycle = 0; //SetDutyCycle(0);
        }


        /// <summary>
        /// Set the servo degree
        /// </summary>
        public double Degree
        {
            set
            {
                /// Range checks
                if (value > 180)
                    value = 180;


                if (value < 0)
                    value = 0;


                // Are we inverted?
                if (inverted)
                    value = 180 - value;


                // Set the pulse
                //servo.SetPulse(20000, (uint)map((long)value, 0, 180, range[0], range[1]));
                servo.Duration = (uint)map((long)value, 0, 180, range[0], range[1]);
                servo.Start();
            }
        }


    
        private long map(long x, long in_min, long in_max, long out_min, long out_max)
        {
            return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
        }
    }
}

i call

  Servo tt = new Servo(Cpu.PWMChannel.PWM_5);
            tt.Degree = 30;
            tt.setRange(1000, 2000);
            tt.Dispose();
 
other method, no class
   
PWM servo = new PWM(PWMChannels.PWM_PIN_D5, 20000, 1500, PWM.ScaleFactor.Microseconds, false);
            uint firstPosition = 1000; //Minimum pulse width of 1msD:\mydocuments\C#_Leap_Netduino\Servo_API\Servo_API\Program.cs            
            uint lastPosition = 2500;  //Maximum pulse width of 2 ms            // move through the full range of positions            
            for (uint currentPosition = firstPosition;
                currentPosition <= lastPosition;
                currentPosition += 10)
            {                // move the servo to the new position.                
                servo.Duration = currentPosition;
                servo.Period = 20000;
                servo.Start();
                Thread.Sleep(20); //refresh the pulse every 20 milliseconds. This can be servo dependant           
            }            // return to first position and wait a half second.  


            servo.DutyCycle = 1;
            servo.Duration = firstPosition; // duração do pulso
            servo.Period = 20000;  //periodo do pulso
            servo.Start();     
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#1 dorathoto

dorathoto

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Posted 26 March 2014 - 08:50 PM

I'm using the new version of the class of Chris:

/*
 * Servo NETMF Driver
 *      Coded by Chris Seto August 2010
 *      <chris@chrisseto.com> 
 *      
 * Use this code for whatveer you want. Modify it, redistribute it, I don't care.
 * I do ask that you please keep this header intact, however.
 * If you modfy the driver, please include your contribution below:
 * 
 * Chris Seto: Inital release (1.0)
 * Chris Seto: Netduino port (1.0 -> Netduino branch)
 * Chris Seto: bool pin state fix (1.1 -> Netduino branch)
 * 
 * 
 * */
using System;
using Microsoft.SPOT;
using Microsoft.SPOT.Hardware;
using SecretLabs.NETMF.Hardware;
using SecretLabs.NETMF.Hardware.Netduino;

namespace Servo_API
{
    public class Servo : IDisposable
    {
        /// <summary>
        /// PWM handle
        /// </summary>
        private PWM servo;

        /// <summary>
        /// Timings range
        /// </summary>
        private int[] range = new int[2];

        /// <summary>
        /// Set servo inversion
        /// </summary>
        public bool inverted = false;

        /// <summary>
        /// Create the PWM Channel, set it low and configure timings
        /// </summary>
        /// <param name="pin"></param>
        public Servo(Cpu.PWMChannel channelPin)
        {
            // Init the PWM pin
            servo = new PWM((Cpu.PWMChannel)channelPin, 20000, 1500, PWM.ScaleFactor.Microseconds, false);

            servo.DutyCycle = 0;
            // Typical settings
            range[0] = 1000;
            range[1] = 2000;
        }

        public void Dispose()
        {
            disengage();
            servo.Dispose();
        }

        /// <summary>
        /// Allow the user to set cutom timings
        /// </summary>
        /// <param name="fullLeft"></param>
        /// <param name="fullRight"></param>
        public void setRange(int fullLeft, int fullRight)
        {
            range[1] = fullLeft;
            range[0] = fullRight;
        }

        /// <summary>
        /// Disengage the servo. 
        /// The servo motor will stop trying to maintain an angle
        /// </summary>
        public void disengage()
        {
            // See what the Netduino team say about this... 
            servo.DutyCycle = 0; //SetDutyCycle(0);
        }

        /// <summary>
        /// Set the servo degree
        /// </summary>
        public double Degree
        {
            set
            {
                /// Range checks
                if (value > 180)
                    value = 180;

                if (value < 0)
                    value = 0;

                // Are we inverted?
                if (inverted)
                    value = 180 - value;

                // Set the pulse
                //servo.SetPulse(20000, (uint)map((long)value, 0, 180, range[0], range[1]));
                servo.Duration = (uint)map((long)value, 0, 180, range[0], range[1]);
            }
        }

        /// <summary>
        /// Used internally to map a value of one scale to another
        /// </summary>
        /// <param name="x"></param>
        /// <param name="in_min"></param>
        /// <param name="in_max"></param>
        /// <param name="out_min"></param>
        /// <param name="out_max"></param>
        /// <returns></returns>
        private long map(long x, long in_min, long in_max, long out_min, long out_max)
        {
            return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
        }
    }
}

 Servo servo = new Servo(PWMChannels.PWM_PIN_D5);
 servo.Degree = 30; // Change 'While' to 'For' to limit how many time it repeats
             for (int j = 0; j < 3; j++)
             {
                 for (int i = 0; i <= 180; i++)
                 {
                     servo.Degree = i;
                     Thread.Sleep(10);
                 }


                 for (int i = 180; i >= 0; i--)
                 {
                     servo.Degree = i;
                     Thread.Sleep(10);
                 }
             }
I connecting servo in
3.3v 
gnd 
port 5 digital
 
my servo is:
 
not working!
 
I tried as Chris Walker's book, 
but I realized that everything changed from 4.1 to 4.3 
Thus it greatly hinders learning.

 


#2 dorathoto

dorathoto

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Posted 27 March 2014 - 09:51 PM   Best Answer

follows my current class, for those who need!

 

missing codes: 
. Start () and minor modifications to work in the new 4.3.1
Netduino 2 plus - servo generic hobby king
using System;
using Microsoft.SPOT;
using Microsoft.SPOT.Hardware;
using SecretLabs.NETMF.Hardware;
using SecretLabs.NETMF.Hardware.Netduino;


namespace Servo_API
{
    public class Servo : IDisposable
    {
        /// <summary>
        /// PWM handle
        /// </summary>
        private PWM servo;


        /// <summary>
        /// Timings range
        /// </summary>
        private int[] range = new int[2];


        /// <summary>
        /// Set servo inversion
        /// </summary>
        public bool inverted = false;


        /// <summary>
        /// Create the PWM Channel, set it low and configure timings
        /// </summary>
        /// <param name="pin"></param>
        public Servo(Cpu.PWMChannel channelPin)
        {
            // Init the PWM pin
           // servo = new PWM((Cpu.PWMChannel)channelPin, 20000, 1500, PWM.ScaleFactor.Microseconds, false);
            servo = new PWM(PWMChannels.PWM_PIN_D5, 20000, 1500, Microsoft.SPOT.Hardware.PWM.ScaleFactor.Microseconds, false);
            servo.Period = 20000;
     
            // Typical settings
            range[0] = 1000;
            range[1] = 2000;
        }


        public void Dispose()
        {
            disengage();
            servo.Dispose();
        }


        /// <summary>
        /// Allow the user to set cutom timings
        /// </summary>
        /// <param name="fullLeft"></param>
        /// <param name="fullRight"></param>
        public void setRange(int fullLeft, int fullRight)
        {
            range[1] = fullLeft;
            range[0] = fullRight;
        }


        /// <summary>
        /// Disengage the servo. 
        /// The servo motor will stop trying to maintain an angle
        /// </summary>
        public void disengage()
        {
            // See what the Netduino team say about this... 
            servo.DutyCycle = 0; //SetDutyCycle(0);
        }


        /// <summary>
        /// Set the servo degree
        /// </summary>
        public double Degree
        {
            set
            {
                /// Range checks
                if (value > 180)
                    value = 180;


                if (value < 0)
                    value = 0;


                // Are we inverted?
                if (inverted)
                    value = 180 - value;


                // Set the pulse
                //servo.SetPulse(20000, (uint)map((long)value, 0, 180, range[0], range[1]));
                servo.Duration = (uint)map((long)value, 0, 180, range[0], range[1]);
                servo.Start();
            }
        }


    
        private long map(long x, long in_min, long in_max, long out_min, long out_max)
        {
            return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
        }
    }
}

i call

  Servo tt = new Servo(Cpu.PWMChannel.PWM_5);
            tt.Degree = 30;
            tt.setRange(1000, 2000);
            tt.Dispose();
 
other method, no class
   
PWM servo = new PWM(PWMChannels.PWM_PIN_D5, 20000, 1500, PWM.ScaleFactor.Microseconds, false);
            uint firstPosition = 1000; //Minimum pulse width of 1msD:\mydocuments\C#_Leap_Netduino\Servo_API\Servo_API\Program.cs            
            uint lastPosition = 2500;  //Maximum pulse width of 2 ms            // move through the full range of positions            
            for (uint currentPosition = firstPosition;
                currentPosition <= lastPosition;
                currentPosition += 10)
            {                // move the servo to the new position.                
                servo.Duration = currentPosition;
                servo.Period = 20000;
                servo.Start();
                Thread.Sleep(20); //refresh the pulse every 20 milliseconds. This can be servo dependant           
            }            // return to first position and wait a half second.  


            servo.DutyCycle = 1;
            servo.Duration = firstPosition; // duração do pulso
            servo.Period = 20000;  //periodo do pulso
            servo.Start();     

#3 Chris Walker

Chris Walker

    Secret Labs Staff

  • Moderators
  • 7767 posts
  • LocationNew York, NY

Posted 28 March 2014 - 03:09 AM

Hi dorathoto,

Thanks for sharing the code updates with us!

Chris
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