added attach(pin, min, max, default) and dependencies

Author: dadul96

src/Servo_Hardware_PWM.cpp

@@ -29,13 +29,19 @@ Servo::Servo()
 
 uint8_t Servo::attach(int pin) 
 {
-	return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
+	return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH, DEFAULT_PULSE_WIDTH);
 }
 
-uint8_t Servo::attach(int pin, int min, int max)
+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 default)
 {
 	this->min = min;
 	this->max = max;
+	this->default = default;
 
 	if (this->servoIndex < MAX_SERVOS) {
 		if (pin == 2) {
@@ -58,7 +64,7 @@ uint8_t Servo::attach(int pin, int min, int max)
 			//setting the output to non inverted:
 			TCCR3A |= (1 << COM3B1);
 
-			OCR3B = DEFAULT_PULSE_WIDTH; //setting the pulse width
+			OCR3B = this->default; //setting the pulse width
 
 			//OC3B, Port E, Bit 4; setting pin 2 as output:
 			DDRE |= (1 << PE4); //bit 4 (pin 2) as output  
@@ -86,7 +92,7 @@ uint8_t Servo::attach(int pin, int min, int max)
 			//setting the output to non inverted:
 			TCCR3A |= (1 << COM3C1);
 
-			OCR3C = DEFAULT_PULSE_WIDTH; //setting the pulse width
+			OCR3C = this->default; //setting the pulse width
 
 			//OC3C, Port E, Bit 5; setting pin 3 as output:
 			DDRE |= (1 << PE5); //bit 5 (pin 3) as output  
@@ -114,7 +120,7 @@ uint8_t Servo::attach(int pin, int min, int max)
 			//setting the output to non inverted:
 			TCCR4A |= (1 << COM4B1);
 
-			OCR4B = DEFAULT_PULSE_WIDTH; //setting the pulse width
+			OCR4B = this->default; //setting the pulse width
 
 			//OC4B, Port H, Bit 4; setting pin 7 as output:
 			DDRH |= (1 << PH4); //bit 4 (pin 7) as output  
@@ -142,7 +148,7 @@ uint8_t Servo::attach(int pin, int min, int max)
 			//setting the output to non inverted:
 			TCCR4A |= (1 << COM4C1);
 
-			OCR4C = DEFAULT_PULSE_WIDTH; //setting the pulse width
+			OCR4C = this->default; //setting the pulse width
 
 			//OC4C, Port H, Bit 5; setting pin 8 as output:
 			DDRH |= (1 << PH5); //bit 5 (pin 8) as output  
@@ -170,7 +176,7 @@ uint8_t Servo::attach(int pin, int min, int max)
 			//setting the output to non inverted:
 			TCCR5A |= (1 << COM5C1);
 
-			OCR5C = DEFAULT_PULSE_WIDTH; //setting the pulse width
+			OCR5C = this->default; //setting the pulse width
 
 			//OC5C, Port L, Bit 5; setting pin 44 as output:
 			DDRL |= (1 << PL5); //bit 5 (pin 44) as output
@@ -198,7 +204,7 @@ uint8_t Servo::attach(int pin, int min, int max)
 			//setting the output to non inverted:
 			TCCR5A |= (1 << COM5B1);
 
-			OCR5B = DEFAULT_PULSE_WIDTH; //setting the pulse width
+			OCR5B = this->default; //setting the pulse width
 
 			//OC5B, Port L, Bit 4; setting pin 45 as output:
 			DDRL |= (1 << PL4); //bit 4 (pin 45) as output

src/Servo_Hardware_PWM.h

@@ -69,17 +69,19 @@ class Servo
 {
 public:
 	Servo();
-	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
-	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 default);	//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 min;								//lower pulse width limit
-	uint8_t max;								//upper pulse width limit
+	uint8_t servoIndex;										//number of attached Servos
+	uint8_t servoPin;										//pin number of the attached Servo
+	uint8_t min;											//lower pulse width limit
+	uint8_t max;											//upper pulse width limit
+	uint8_t default;										//pulse width when servo is attached
 };
 
 #endif