Pak0loko

Hi Guys.
I´m new on this kind of thigs like programing using netduino and even on the use of c# :S.
I´ve been trying a lot to make this code works on firmware 4.2, you know the PWM changes and some other things.
Can anyone of you please help me on this?
I´ll appreciate it a lot.
Thanks in Advance.

This is a class I use on my other NETMF hardware to run my RC car based robot. It took very little effort to port to the Netduino, hopefully someone find it useful

/*
 * 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.Hardware;
using SecretLabs.NETMF.Hardware;

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 pin, set it low and configure timings
		/// </summary>
		/// <param name="pin"></param>
		public Servo(Cpu.Pin pin)
		{
			// Init the PWM pin
			servo = new PWM((Cpu.Pin)pin);

			servo.SetDutyCycle(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.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]));
			}
		}

		/// <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;
		}
	}
}

Example code:

using System.Threading;
using SecretLabs.NETMF.Hardware.Netduino;
using Servo_API;

namespace NetduinoServoDemo
{
	public class Program
	{
		public static void Main()
		{
			Servo servo = new Servo(Pins.GPIO_PIN_D9);

			while (true)
			{
				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);
				}
			}
		}

	}
}