Merge branch 'feature/adding_different_attach_methods' into develop

Author: dadul96

src/Servo_Hardware_PWM.cpp

@@ -29,6 +29,20 @@ Servo::Servo()
 
 uint8_t Servo::attach(int pin)
 {
+	return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH, DEFAULT_PULSE_WIDTH);
+}
+
+uint8_t Servo::attach(int pin, int min, int max)
+{
+	return this->attach(pin, min, max, DEFAULT_PULSE_WIDTH);
+}
+
+uint8_t Servo::attach(int pin, int min, int max, int defaultPos)
+{
+	this->min = min;
+	this->max = max;
+	this->defaultPos = defaultPos;
+
 	if (this->servoIndex < MAX_SERVOS) {
 		if (pin == 2) {
 			if(pinActive[1] == BOOL_FALSE){
@@ -50,7 +64,7 @@ uint8_t Servo::attach(int pin)
 			//setting the output to non inverted:
 			TCCR3A |= (1 << COM3B1);
 
-			OCR3B = DEFAULT_PULSE_WIDTH; //setting the pulse width
+			OCR3B = this->defaultPos; //setting the pulse width
 
 			//OC3B, Port E, Bit 4; setting pin 2 as output:
 			DDRE |= (1 << PE4); //bit 4 (pin 2) as output  
@@ -78,7 +92,7 @@ uint8_t Servo::attach(int pin)
 			//setting the output to non inverted:
 			TCCR3A |= (1 << COM3C1);
 
-			OCR3C = DEFAULT_PULSE_WIDTH; //setting the pulse width
+			OCR3C = this->defaultPos; //setting the pulse width
 
 			//OC3C, Port E, Bit 5; setting pin 3 as output:
 			DDRE |= (1 << PE5); //bit 5 (pin 3) as output  
@@ -106,7 +120,7 @@ uint8_t Servo::attach(int pin)
 			//setting the output to non inverted:
 			TCCR4A |= (1 << COM4B1);
 
-			OCR4B = DEFAULT_PULSE_WIDTH; //setting the pulse width
+			OCR4B = this->defaultPos; //setting the pulse width
 
 			//OC4B, Port H, Bit 4; setting pin 7 as output:
 			DDRH |= (1 << PH4); //bit 4 (pin 7) as output  
@@ -134,7 +148,7 @@ uint8_t Servo::attach(int pin)
 			//setting the output to non inverted:
 			TCCR4A |= (1 << COM4C1);
 
-			OCR4C = DEFAULT_PULSE_WIDTH; //setting the pulse width
+			OCR4C = this->defaultPos; //setting the pulse width
 
 			//OC4C, Port H, Bit 5; setting pin 8 as output:
 			DDRH |= (1 << PH5); //bit 5 (pin 8) as output  
@@ -162,7 +176,7 @@ uint8_t Servo::attach(int pin)
 			//setting the output to non inverted:
 			TCCR5A |= (1 << COM5C1);
 
-			OCR5C = DEFAULT_PULSE_WIDTH; //setting the pulse width
+			OCR5C = this->defaultPos; //setting the pulse width
 
 			//OC5C, Port L, Bit 5; setting pin 44 as output:
 			DDRL |= (1 << PL5); //bit 5 (pin 44) as output
@@ -190,7 +204,7 @@ uint8_t Servo::attach(int pin)
 			//setting the output to non inverted:
 			TCCR5A |= (1 << COM5B1);
 
-			OCR5B = DEFAULT_PULSE_WIDTH; //setting the pulse width
+			OCR5B = this->defaultPos; //setting the pulse width
 
 			//OC5B, Port L, Bit 4; setting pin 45 as output:
 			DDRL |= (1 << PL4); //bit 4 (pin 45) as output
@@ -370,19 +384,19 @@ void Servo::write(int value)
 	{
 		value = 180;
 	}
-	value = (((MAX_PULSE_WIDTH - MIN_PULSE_WIDTH) * value) / 180) + MIN_PULSE_WIDTH;
+	value = (((this->max - this->min) * value) / 180) + this->min;
 
 	this->writeMicroseconds(value);
 }
 
 void Servo::writeMicroseconds(int value)
 {
 	if ((this->servoIndex < MAX_SERVOS)) {
-		if (value < MIN_PULSE_WIDTH) {
-			value = MIN_PULSE_WIDTH;
+		if (value < this->min) {
+			value = this->min;
 		}
-		else if (value > MAX_PULSE_WIDTH) {
-			value = MAX_PULSE_WIDTH;
+		else if (value > this->max) {
+			value = this->max;
 		}
 		if (this->servoPin == 2 && pinActive[0] == BOOL_TRUE) {
 			OCR3B = 0x0;

src/Servo_Hardware_PWM.h

@@ -69,14 +69,19 @@ class Servo
 {
 public:
 	Servo();
-	uint8_t attach(int pin);			//attach the given pin; returns servoIndex number or 255 if too many servos
-	void detach();						//detach the used pin
-	void detachAll();					//automatically detaches all used pins
-	void write(int value);				//write angle in degrees
-	void writeMicroseconds(int value);	//write pulse width in microseconds 
+	uint8_t attach(int pin);								//attach the given pin; returns servoIndex number or 255 if too many servos
+	uint8_t attach(int pin, int min, int max);				//attach the given pin and set the upper and lower pulse width limits; returns servoIndex number or 255 if too many servos
+	uint8_t attach(int pin, int min, int max, int defaultPos);	//attach the given pin, set the upper and lower pulse width limits and set the pulse width when servo is attached; returns servoIndex number or 255 if too many servos
+	void detach();											//detach the used pin
+	void detachAll();										//automatically detaches all used pins
+	void write(int value);									//write angle in degrees
+	void writeMicroseconds(int value);						//write pulse width in microseconds 
 private:
-	uint8_t servoIndex;					//number of attached Servos
-	uint8_t servoPin;					//pin number of the attached Servo
+	uint8_t servoIndex;										//number of attached Servos
+	uint8_t servoPin;										//pin number of the attached Servo
+	uint16_t min;											//lower pulse width limit
+	uint16_t max;											//upper pulse width limit
+	uint16_t defaultPos;									//pulse width when servo is attached
 };
 
 #endif