kopia lustrzana https://github.com/pimoroni/pimoroni-pico
Changed type to uint8_t
ZodiusInfuser
rodzic
1efa75a590
commit
8d0ae57f2a
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@ -59,7 +59,7 @@ namespace servo {
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// Update the pwm before setting the new wrap
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uint8_t servo_count = pwms.get_chan_count();
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for(uint servo = 0; servo < servo_count; servo++) {
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for(uint8_t servo = 0; servo < servo_count; servo++) {
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pwms.set_chan_level(servo, 0, false);
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pwms.set_chan_offset(servo, (uint32_t)(servo_phases[servo] * (float)pwm_period), false);
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}
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@ -88,7 +88,7 @@ namespace servo {
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return pwms.get_chan_pin(servo);
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}
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void ServoCluster::enable(uint servo, bool load) {
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void ServoCluster::enable(uint8_t servo, bool load) {
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assert(servo < pwms.get_chan_count());
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float new_pulse = states[servo].enable();
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apply_pulse(servo, new_pulse, load);
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@ -120,7 +120,7 @@ namespace servo {
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pwms.load_pwm();
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}
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void ServoCluster::disable(uint servo, bool load) {
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void ServoCluster::disable(uint8_t servo, bool load) {
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assert(servo < pwms.get_chan_count());
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float new_pulse = states[servo].disable();
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apply_pulse(servo, new_pulse, load);
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@ -152,17 +152,17 @@ namespace servo {
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pwms.load_pwm();
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}
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bool ServoCluster::is_enabled(uint servo) const {
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bool ServoCluster::is_enabled(uint8_t servo) const {
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assert(servo < pwms.get_chan_count());
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return states[servo].is_enabled();
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}
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float ServoCluster::pulse(uint servo) const {
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float ServoCluster::pulse(uint8_t servo) const {
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assert(servo < pwms.get_chan_count());
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return states[servo].get_pulse();
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}
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void ServoCluster::pulse(uint servo, float pulse, bool load) {
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void ServoCluster::pulse(uint8_t servo, float pulse, bool load) {
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assert(servo < pwms.get_chan_count());
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float new_pulse = states[servo].set_pulse_with_return(pulse);
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apply_pulse(servo, new_pulse, load);
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@ -194,12 +194,12 @@ namespace servo {
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pwms.load_pwm();
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}
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float ServoCluster::value(uint servo) const {
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float ServoCluster::value(uint8_t servo) const {
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assert(servo < pwms.get_chan_count());
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return states[servo].get_value();
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}
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void ServoCluster::value(uint servo, float value, bool load) {
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void ServoCluster::value(uint8_t servo, float value, bool load) {
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assert(servo < pwms.get_chan_count());
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float new_pulse = states[servo].set_value_with_return(value);
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apply_pulse(servo, new_pulse, load);
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@ -231,12 +231,12 @@ namespace servo {
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pwms.load_pwm();
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}
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float ServoCluster::phase(uint servo) const {
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float ServoCluster::phase(uint8_t servo) const {
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assert(servo < pwms.get_chan_count());
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return servo_phases[servo];
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}
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void ServoCluster::phase(uint servo, float phase, bool load) {
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void ServoCluster::phase(uint8_t servo, float phase, bool load) {
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assert(servo < pwms.get_chan_count());
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servo_phases[servo] = MIN(MAX(phase, 0.0f), 1.0f);
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pwms.set_chan_offset(servo, (uint32_t)(servo_phases[servo] * (float)pwms.get_wrap()), load);
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@ -306,22 +306,22 @@ namespace servo {
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return success;
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}
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float ServoCluster::min_value(uint servo) const {
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float ServoCluster::min_value(uint8_t servo) const {
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assert(is_assigned(servo));
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return states[servo].get_min_value();
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}
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float ServoCluster::mid_value(uint servo) const {
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float ServoCluster::mid_value(uint8_t servo) const {
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assert(is_assigned(servo));
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return states[servo].get_mid_value();
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}
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float ServoCluster::max_value(uint servo) const {
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float ServoCluster::max_value(uint8_t servo) const {
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assert(is_assigned(servo));
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return states[servo].get_max_value();
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}
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void ServoCluster::to_min(uint servo, bool load) {
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void ServoCluster::to_min(uint8_t servo, bool load) {
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assert(is_assigned(servo));
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float new_pulse = states[servo].to_min_with_return();
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apply_pulse(servo, new_pulse, load);
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@ -353,7 +353,7 @@ namespace servo {
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pwms.load_pwm();
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}
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void ServoCluster::to_mid(uint servo, bool load) {
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void ServoCluster::to_mid(uint8_t servo, bool load) {
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assert(is_assigned(servo));
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float new_pulse = states[servo].to_mid_with_return();
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apply_pulse(servo, new_pulse, load);
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@ -385,7 +385,7 @@ namespace servo {
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pwms.load_pwm();
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}
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void ServoCluster::to_max(uint servo, bool load) {
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void ServoCluster::to_max(uint8_t servo, bool load) {
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assert(is_assigned(servo));
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float new_pulse = states[servo].to_max_with_return();
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apply_pulse(servo, new_pulse, load);
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@ -417,7 +417,7 @@ namespace servo {
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pwms.load_pwm();
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}
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void ServoCluster::to_percent(uint servo, float in, float in_min, float in_max, bool load) {
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void ServoCluster::to_percent(uint8_t servo, float in, float in_min, float in_max, bool load) {
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assert(is_assigned(servo));
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float new_pulse = states[servo].to_percent_with_return(in, in_min, in_max);
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apply_pulse(servo, new_pulse, load);
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@ -449,7 +449,7 @@ namespace servo {
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pwms.load_pwm();
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}
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void ServoCluster::to_percent(uint servo, float in, float in_min, float in_max, float value_min, float value_max, bool load) {
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void ServoCluster::to_percent(uint8_t servo, float in, float in_min, float in_max, float value_min, float value_max, bool load) {
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assert(is_assigned(servo));
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float new_pulse = states[servo].to_percent_with_return(in, in_min, in_max, value_min, value_max);
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apply_pulse(servo, new_pulse, load);
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@ -481,12 +481,12 @@ namespace servo {
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pwms.load_pwm();
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}
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Calibration& ServoCluster::calibration(uint servo) {
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Calibration& ServoCluster::calibration(uint8_t servo) {
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assert(is_assigned(servo));
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return states[servo].calibration();
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}
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const Calibration& ServoCluster::calibration(uint servo) const {
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const Calibration& ServoCluster::calibration(uint8_t servo) const {
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assert(is_assigned(servo));
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return states[servo].calibration();
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}
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@ -495,7 +495,7 @@ namespace servo {
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pwms.load_pwm();
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}
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void ServoCluster::apply_pulse(uint servo, float pulse, bool load) {
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void ServoCluster::apply_pulse(uint8_t servo, float pulse, bool load) {
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pwms.set_chan_level(servo, ServoState::pulse_to_level(pulse, pwm_period, pwm_frequency), load);
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}
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@ -45,32 +45,32 @@ namespace servo {
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uint8_t count() const;
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uint8_t pin(uint8_t servo) const;
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void enable(uint servo, bool load = true);
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void enable(uint8_t servo, bool load = true);
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void enable(const uint8_t *servos, uint8_t length, bool load = true);
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void enable(std::initializer_list<uint8_t> servos, bool load = true);
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void enable_all(bool load = true);
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void disable(uint servo, bool load = true);
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void disable(uint8_t servo, bool load = true);
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void disable(const uint8_t *servos, uint8_t length, bool load = true);
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void disable(std::initializer_list<uint8_t> servos, bool load = true);
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void disable_all(bool load = true);
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bool is_enabled(uint servo) const;
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bool is_enabled(uint8_t servo) const;
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float pulse(uint servo) const;
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void pulse(uint servo, float pulse, bool load = true);
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float pulse(uint8_t servo) const;
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void pulse(uint8_t servo, float pulse, bool load = true);
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void pulse(const uint8_t *servos, uint8_t length, float pulse, bool load = true);
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void pulse(std::initializer_list<uint8_t> servos, float pulse, bool load = true);
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void all_to_pulse(float pulse, bool load = true);
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float value(uint servo) const;
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void value(uint servo, float value, bool load = true);
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float value(uint8_t servo) const;
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void value(uint8_t servo, float value, bool load = true);
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void value(const uint8_t *servos, uint8_t length, float value, bool load = true);
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void value(std::initializer_list<uint8_t> servos, float value, bool load = true);
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void all_to_value(float value, bool load = true);
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float phase(uint servo) const;
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void phase(uint servo, float phase, bool load = true);
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float phase(uint8_t servo) const;
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void phase(uint8_t servo, float phase, bool load = true);
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void phase(const uint8_t *servos, uint8_t length, float phase, bool load = true);
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void phase(std::initializer_list<uint8_t> servos, float phase, bool load = true);
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void all_to_phase(float phase, bool load = true);
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@ -79,43 +79,43 @@ namespace servo {
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bool frequency(float freq);
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//--------------------------------------------------
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float min_value(uint servo) const;
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float mid_value(uint servo) const;
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float max_value(uint servo) const;
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float min_value(uint8_t servo) const;
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float mid_value(uint8_t servo) const;
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float max_value(uint8_t servo) const;
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void to_min(uint servo, bool load = true);
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void to_min(uint8_t servo, bool load = true);
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void to_min(const uint8_t *servos, uint8_t length, bool load = true);
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void to_min(std::initializer_list<uint8_t> servos, bool load = true);
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void all_to_min(bool load = true);
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void to_mid(uint servo, bool load = true);
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void to_mid(uint8_t servo, bool load = true);
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void to_mid(const uint8_t *servos, uint8_t length, bool load = true);
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void to_mid(std::initializer_list<uint8_t> servos, bool load = true);
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void all_to_mid(bool load = true);
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void to_max(uint servo, bool load = true);
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void to_max(uint8_t servo, bool load = true);
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void to_max(const uint8_t *servos, uint8_t length, bool load = true);
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void to_max(std::initializer_list<uint8_t> servos, bool load = true);
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void all_to_max(bool load = true);
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void to_percent(uint servo, float in, float in_min = ServoState::ZERO_PERCENT, float in_max = ServoState::ONEHUNDRED_PERCENT, bool load = true);
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void to_percent(uint8_t servo, float in, float in_min = ServoState::ZERO_PERCENT, float in_max = ServoState::ONEHUNDRED_PERCENT, bool load = true);
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void to_percent(const uint8_t *servos, uint8_t length, float in, float in_min = ServoState::ZERO_PERCENT, float in_max = ServoState::ONEHUNDRED_PERCENT, bool load = true);
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void to_percent(std::initializer_list<uint8_t> servos, float in, float in_min = ServoState::ZERO_PERCENT, float in_max = ServoState::ONEHUNDRED_PERCENT, bool load = true);
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void all_to_percent(float in, float in_min = ServoState::ZERO_PERCENT, float in_max = ServoState::ONEHUNDRED_PERCENT, bool load = true);
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void to_percent(uint servo, float in, float in_min, float in_max, float value_min, float value_max, bool load = true);
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void to_percent(uint8_t servo, float in, float in_min, float in_max, float value_min, float value_max, bool load = true);
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void to_percent(const uint8_t *servos, uint8_t length, float in, float in_min, float in_max, float value_min, float value_max, bool load = true);
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void to_percent(std::initializer_list<uint8_t> servos, float in, float in_min, float in_max, float value_min, float value_max, bool load = true);
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void all_to_percent(float in, float in_min, float in_max, float value_min, float value_max, bool load = true);
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Calibration& calibration(uint servo);
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const Calibration& calibration(uint servo) const;
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Calibration& calibration(uint8_t servo);
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const Calibration& calibration(uint8_t servo) const;
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void load();
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//--------------------------------------------------
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private:
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void apply_pulse(uint servo, float pulse, bool load);
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void apply_pulse(uint8_t servo, float pulse, bool load);
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void create_servo_states(CalibrationType default_type, bool auto_phase);
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void create_servo_states(const Calibration& calibration, bool auto_phase);
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};
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