Arduino-compatible Servo library for Raspberry Pi. More...

#include <Servo.h>

Public Member Functions
	Servo ()
	Default constructor. Uses the global RPI GPIO instance.

	Servo (HardwareGPIO_RPI &gpio)
	Constructor with explicit HardwareGPIO_RPI instance.

uint8_t	attach (int pin)
	Attach the servo to a GPIO pin using default pulse range.

uint8_t	attach (int pin, int min, int max)
	Attach the servo to a GPIO pin with custom min/max pulse widths.

bool	attached () const
	Check if the servo is attached to a pin.

void	detach ()
	Detach the servo: stop PWM and release the pin.

int	read () const
	Read the current servo position in degrees (0-180).

int	readMicroseconds () const
	Read the current pulse width in microseconds.

void	write (int value)
	Write a position to the servo.

void	writeMicroseconds (int us)
	Write a pulse width directly in microseconds.

Detailed Description

Arduino-compatible Servo library for Raspberry Pi.

Uses the Linux sysfs PWM interface via HardwareGPIO_RPI. Supports hardware PWM pins: 12, 13, 18, 19 (BCM numbering).

The servo period is fixed at 50 Hz (20 ms). Pulse widths in the range SERVO_DEFAULT_MIN_US-SERVO_DEFAULT_MAX_US map to 0-180 degrees.

Note: Call gpio.begin() on your HardwareGPIO_RPI instance before attaching any servos.

Usage:

HardwareGPIO_RPI gpio;
gpio.begin();
Servo myServo(gpio);
myServo.attach(18);
myServo.write(90);

Member Function Documentation

uint8_t Servo::attach ( int pin )

inline

Attach the servo to a GPIO pin using default pulse range.

Parameters

pin	GPIO pin number (BCM), must be a hardware PWM pin (12,13,18,19).

inline

Attach the servo to a GPIO pin with custom min/max pulse widths.

Parameters

pin	GPIO pin number (BCM), must be a hardware PWM pin (12,13,18,19).
min	Minimum pulse width in microseconds (corresponds to 0 degrees).
max	Maximum pulse width in microseconds (corresponds to 180 degrees).

void Servo::write ( int value )

inline

Write a position to the servo.

Parameters

value Angle in degrees (0-180), or pulse width in us if > 200.

void Servo::writeMicroseconds ( int us )

inline

Write a pulse width directly in microseconds.

Parameters

us	Pulse width in microseconds.

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