add_executable (seg-lcd 4digitdisplay.cxx)
add_executable (nrf_transmitter nrf_transmitter.cxx)
add_executable (nrf_receiver nrf_receiver.cxx)
+add_executable (es08a es08a.cxx)
include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
include_directories (${PROJECT_SOURCE_DIR}/src/grove)
include_directories (${PROJECT_SOURCE_DIR}/src/ledbar)
include_directories (${PROJECT_SOURCE_DIR}/src/4digitdisplay)
include_directories (${PROJECT_SOURCE_DIR}/src/nrf24l01)
+include_directories (${PROJECT_SOURCE_DIR}/src/servo)
target_link_libraries (compass hmc5883l ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (groveled grove ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (seg-lcd 4digitdisplay ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (nrf_transmitter nrf24l01 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (nrf_receiver nrf24l01 ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (es08a servo ${CMAKE_THREAD_LIBS_INIT})
--- /dev/null
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "es08a.h"
+#include <signal.h>
+#include <stdlib.h>
+
+int running = 0;
+
+void
+sig_handler(int signo)
+{
+ printf("got signal\n");
+ if (signo == SIGINT) {
+ printf("exiting application\n");
+ running = 1;
+ }
+}
+
+int
+main(int argc, char **argv)
+{
+ upm::ES08A *servo = new upm::ES08A(5);
+
+ signal(SIGINT, sig_handler);
+
+ int clock = 0;
+ while (!running) {
+ for (int i = 0; i < 18; i++) {
+ servo->setAngle (clock);
+ clock += 10;
+ }
+
+ for (int i = 0; i < 18; i++) {
+ servo->setAngle (clock);
+ clock -= 10;
+ }
+ }
+
+ std::cout << "exiting application" << std::endl;
+
+ delete servo;
+
+ return 0;
+}
add_subdirectory (ledbar)
add_subdirectory (4digitdisplay)
add_subdirectory (nrf24l01)
+add_subdirectory (servo)
--- /dev/null
+set (libname "servo")
+add_library (servo SHARED servo.cxx es08a.cxx)
+include_directories (${MAA_INCLUDE_DIR})
+target_link_libraries (servo ${MAA_LIBRARIES})
--- /dev/null
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <iostream>
+#include <unistd.h>
+
+#include "es08a.h"
+
+using namespace upm;
+
+ES08A::ES08A (int pin) : Servo(pin) {
+ m_name = "ES08A";
+ m_maxAngle = 180.0;
+}
+
+ES08A::~ES08A() {
+
+}
--- /dev/null
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#pragma once
+
+#include <string>
+#include "servo.h"
+
+namespace upm {
+
+#define MIN_PULSE_WIDTH 600
+#define MAX_PULSE_WIDTH 2500
+
+class ES08A : public Servo {
+ public:
+ ES08A (int pin);
+ ~ES08A ();
+};
+
+}
--- /dev/null
+%module jsupm_es08a
+
+%{
+ #include "es08a.h"
+%}
+
+%include "es08a.h"
--- /dev/null
+%module pyupm_es08a
+
+%feature("autodoc", "3");
+
+%include "es08a.h"
+%{
+ #include "es08a.h"
+%}
--- /dev/null
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <iostream>
+#include <unistd.h>
+#include <stdlib.h>
+
+#include "servo.h"
+
+using namespace upm;
+
+Servo::Servo (int pin) {
+ maa_result_t error = MAA_SUCCESS;
+
+ m_maxAngle = 180.0;
+ m_servoPin = pin;
+ m_pwmServoContext = maa_pwm_init (m_servoPin);
+}
+
+Servo::~Servo () {
+
+}
+
+/*
+ * X = between (MIN_PULSE_WIDTH , MAX_PULSE_WIDTH)
+ *
+ * X usec
+ * _______
+ * |_______________________________________
+ * 20000 usec
+ *
+ * Max period can be only 7968750(nses) which is ~8(msec)
+ * so the servo wil not work as expected.
+ * */
+maa_result_t Servo::setAngle (int angle) {
+ if (m_pwmServoContext == NULL) {
+ std::cout << "PWM context is NULL" << std::endl;
+ return MAA_ERROR_UNSPECIFIED;
+ }
+
+ maa_pwm_enable (m_pwmServoContext, 1);
+ for (int cycles = 0; cycles < 128; cycles++) {
+ maa_pwm_period_us (m_pwmServoContext, MAX_PERIOD);
+ maa_pwm_pulsewidth_us (m_pwmServoContext, calcPulseTraveling(angle));
+ }
+ maa_pwm_enable (m_pwmServoContext, 0);
+
+ std::cout << "angle = " << angle << " ,pulse = " << calcPulseTraveling(angle) << std::endl;
+}
+
+/*
+ * Calculating relative pulse time to the value.
+ * */
+int Servo::calcPulseTraveling (int value) {
+ // if bigger than the boundaries
+ if (value > m_maxAngle) {
+ return MAX_PULSE_WIDTH;
+ }
+
+ // if less than the boundaries
+ if (value < 0) {
+ return MIN_PULSE_WIDTH;
+ }
+
+ // the conversion
+ return (int) ((float)MIN_PULSE_WIDTH + ((float)value / m_maxAngle) * ((float)MAX_PULSE_WIDTH - (float)MIN_PULSE_WIDTH));
+}
--- /dev/null
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#pragma once
+
+#include <string>
+#include <maa/pwm.h>
+
+namespace upm {
+
+#define MIN_PULSE_WIDTH 600
+#define MAX_PULSE_WIDTH 2500
+#define MAX_PERIOD 7968
+
+#define HIGH 1
+#define LOW 0
+
+class Servo {
+ public:
+ Servo (int pin);
+ ~Servo();
+ maa_result_t setAngle (int angle);
+
+ std::string name()
+ {
+ return m_name;
+ }
+ protected:
+ int calcPulseTraveling (int value);
+
+ std::string m_name;
+ int m_servoPin;
+ float m_maxAngle;
+ maa_pwm_context m_pwmServoContext;
+ // maa_gpio_context m_servoPinCtx;
+};
+
+}
projects / contrib / upm.git / commitdiff