mangavalkandClaude Opus 5.5
5ff85c4eb8
- LEGACY/Hexapod_Teensy/: old robot sketch (reference only). - platformio.ini: robot env targets teensy36 (owner-confirmed board). - Config.h: per-servo SERVOS table (pin, pulse at 0 deg, signed us/deg, pulse limits) built from the old sketch's pins, ranges, trims and the old Unity servo directions. Rear-left/front-left coxa offsets set to 0: the owner re-horns those two servos (the old +-90 left them at the end of travel; the sim showed them clamping). - ServoDriver: 18 servos on hardware PWM (50 Hz, 16-bit); the Teensy 3.6 Servo library stops at 12. - Radio on CE 39 / CSN 15 with SPI SCK on pin 14. - sim: analogWrite/PWM shims, pulses decoded through SERVOS (API v6). - Docs: CLAUDE.md, READMEs. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
95 lines
3.3 KiB
C++
95 lines
3.3 KiB
C++
#ifndef PWMServo_h
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#define PWMServo_h
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/*
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PWMServo.h - Hardware Servo Timer Library
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http://arduiniana.org/libraries/pwmservo/
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Author: Jim Studt, jim@federated.com
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Copyright (c) 2007 David A. Mellis. All right reserved.
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renamed to PWMServo by Mikal Hart
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ported to other chips by Paul Stoffregen
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#include <inttypes.h>
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#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) // Arduino
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#define SERVO_PIN_A 9
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#define SERVO_PIN_B 10
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#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // Arduino Mega
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#define SERVO_PIN_A 11
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#define SERVO_PIN_B 12
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#define SERVO_PIN_C 13
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#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__) // Sanguino
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#define SERVO_PIN_A 13
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#define SERVO_PIN_B 12
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#elif defined(__AVR_AT90USB162__) // Teensy 1.0
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#define SERVO_PIN_A 17
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#define SERVO_PIN_B 18
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#define SERVO_PIN_C 15
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#elif defined(__AVR_ATmega32U4__) // Teensy 2.0
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#define SERVO_PIN_A 14
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#define SERVO_PIN_B 15
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#define SERVO_PIN_C 4
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#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__) // Teensy++
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#define SERVO_PIN_A 25
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#define SERVO_PIN_B 26
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#define SERVO_PIN_C 27
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#elif defined(__arm__) && defined(TEENSYDUINO)
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#define SERVO_PIN_A 9
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#define SERVO_PIN_B 10
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// all PWM pins supported, but names not defined here...
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// just use the actual PWM pin number with attach()
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#else
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#define SERVO_PIN_A 9
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#define SERVO_PIN_B 10
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#endif
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class PWMServo
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{
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private:
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uint8_t pin;
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float angle; // in degrees
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uint8_t min16; // minimum pulse, 16uS units (default is 34)
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uint8_t max16; // maximum pulse, 16uS units, 0-4ms range (default is 150)
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#if defined(__AVR__)
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static void seizeTimer1();
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static void releaseTimer1();
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static uint8_t attachedA;
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static uint8_t attachedB;
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#ifdef SERVO_PIN_C
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static uint8_t attachedC;
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#endif
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#elif defined(__arm__) && defined(TEENSYDUINO)
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static uint32_t attachedpins[]; // 1 bit per digital pin
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#endif
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public:
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PWMServo();
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uint8_t attach(int pinArg) { return attach(pinArg, 544, 2400); }
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// pulse length for 0 degrees in microseconds, 544uS default
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// pulse length for 180 degrees in microseconds, 2400uS default
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uint8_t attach(int pinArg, int min, int max);
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// attach to a pin, sets pinMode, returns 0 on failure, won't
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// position the servo until a subsequent write() happens
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// Only works for 9 and 10.
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void detach();
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void write(float angleArg); // specify the angle in degrees, 0 to 180
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uint8_t read() { return angle; }
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uint8_t attached();
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};
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#endif
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