Servo Class Reference

Servo motor controller. More...

#include <Servo.h>

Public Member Functions
	Servo ()
	Create a servo instance and assign it a channel index.
uint8_t	attach (pin_size_t pin, int value=DEFAULT_PULSE_WIDTH)
	Attach the servo to a pin, using the default min and max pulse widths.
uint8_t	attach (pin_size_t pin, int min, int max, int value=DEFAULT_PULSE_WIDTH)
	Attach the servo to a pin, with custom min and max pulse widths.
void	detach ()
	Stop the servo from pulsing its pin.
void	write (int value)
	Set the servo position.
void	writeMicroseconds (int value)
	Set the servo pulse width.
int	read ()
	Get the last written position.
int	readMicroseconds ()
	Get the last written pulse width.
bool	attached ()
	Check if the servo is attached.

Detailed Description

Servo motor controller.

Each instance drives one servo on a pin, using a shared 16 bit timer.

Constructor & Destructor Documentation

Servo()

Servo::Servo

(

)

Create a servo instance and assign it a channel index.

Note

If no channel is left (MAX_SERVOS reached), the instance is invalid: its index is INVALID_SERVO.

Member Function Documentation

attach() [1/2]

uint8_t Servo::attach	(	pin_size_t	pin,
		int	min,
		int	max,
		int	value = DEFAULT_PULSE_WIDTH
	)

Attach the servo to a pin, with custom min and max pulse widths.

The pin is set as output and the servo is moved to the initial value. The min and max values are used to limit the writes and have a resolution of 4 microseconds.

Parameters

pin	Pin number to attach the servo to.
min	Pulse width in microseconds for 0 degrees (MIN_PULSE_WIDTH by default with the 2 parameters version).
max	Pulse width in microseconds for 180 degrees (MAX_PULSE_WIDTH by default with the 2 parameters version).
value	Initial value, as an angle in degrees or a pulse width in microseconds. Default: DEFAULT_PULSE_WIDTH.

Returns

Index of the channel used, or INVALID_SERVO if no channel is available.

attach() [2/2]

uint8_t Servo::attach	(	pin_size_t	pin,
		int	value = DEFAULT_PULSE_WIDTH
	)

Attach the servo to a pin, using the default min and max pulse widths.

The pin is set as output and the servo is moved to the initial value.

Parameters

pin	Pin number to attach the servo to.
value	Initial value, as an angle in degrees or a pulse width in microseconds. Default: DEFAULT_PULSE_WIDTH.

Returns

Index of the channel used, or INVALID_SERVO if no channel is available.

attached()

bool Servo::attached

(

)

Check if the servo is attached.

Returns

true if the servo is attached, false otherwise.

detach()

void Servo::detach

(

)

Stop the servo from pulsing its pin.

The timer is paused when no servo is active.

read()

int Servo::read

(

)

Get the last written position.

Returns

Current position as an angle between 0 and 180 degrees.

readMicroseconds()

int Servo::readMicroseconds

(

)

Get the last written pulse width.

Returns

Current pulse width in microseconds, 0 if the servo instance is invalid.

write()

void Servo::write

(

int

value

)

Set the servo position.

A value less than MIN_PULSE_WIDTH is treated as an angle (limited to 0-180), otherwise it is treated as a pulse width in microseconds (see writeMicroseconds()).

Parameters

value

Angle in degrees (0 to 180) or pulse width in microseconds.

writeMicroseconds()

void Servo::writeMicroseconds

(

int

value

)

Set the servo pulse width.

The value is clamped to the min and max pulse widths of this servo.

Parameters

value

Pulse width in microseconds.

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The documentation for this class was generated from the following files:

• libraries/Servo/src/Servo.h
• libraries/Servo/src/stm32/Servo.cpp