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dadul96dadul96
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changed the code formatting style
1 parent 1c95302 commit baee8ad

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2 files changed

+91
-64
lines changed

2 files changed

+91
-64
lines changed

‎src/Servo_Hardware_PWM.cpp‎

Lines changed: 88 additions & 60 deletions
Original file line numberDiff line numberDiff line change
@@ -13,12 +13,12 @@ For information about the library, license and author, see Servo_Hardware_PWM.h
1313
static uint8_t servoCount = 0;
1414
static uint8_t pinActive[MAX_SERVOS] = {BOOL_FALSE};
1515

16-
Servo::Servo()
17-
{
16+
Servo::Servo() {
1817
this->servoIndex = 0;
1918
this->servoPin = 0;
2019

21-
if (servoCount < MAX_SERVOS) {
20+
if (servoCount < MAX_SERVOS)
21+
{
2222
this->servoIndex = servoCount++; //assign a servoIndex to this instance
2323
}
2424
else
@@ -27,25 +27,25 @@ Servo::Servo()
2727
}
2828
}
2929

30-
uint8_t Servo::attach(int pin)
31-
{
30+
uint8_t Servo::attach(int pin) {
3231
return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH, DEFAULT_PULSE_WIDTH);
3332
}
3433

35-
uint8_t Servo::attach(int pin, int min, int max)
36-
{
34+
uint8_t Servo::attach(int pin, int min, int max) {
3735
return this->attach(pin, min, max, DEFAULT_PULSE_WIDTH);
3836
}
3937

40-
uint8_t Servo::attach(int pin, int min, int max, int defaultPos)
41-
{
38+
uint8_t Servo::attach(int pin, int min, int max, int defaultPos) {
4239
this->min = min;
4340
this->max = max;
4441
this->defaultPos = defaultPos;
4542

46-
if (this->servoIndex < MAX_SERVOS) {
47-
if (pin == 2) {
48-
if(pinActive[1] == BOOL_FALSE){
43+
if (this->servoIndex < MAX_SERVOS)
44+
{
45+
if (pin == 2)
46+
{
47+
if (pinActive[1] == BOOL_FALSE)
48+
{
4949
//resetting the control register A and B:
5050
TCCR3A = 0x0;
5151
TCCR3B = 0x0;
@@ -68,12 +68,14 @@ uint8_t Servo::attach(int pin, int min, int max, int defaultPos)
6868

6969
//OC3B, Port E, Bit 4; setting pin 2 as output:
7070
DDRE |= (1 << PE4); //bit 4 (pin 2) as output
71-
71+
7272
pinActive[0] = BOOL_TRUE;
7373
this->servoPin = 2;
7474
}
75-
else if (pin == 3) {
76-
if(pinActive[0] == BOOL_FALSE){
75+
else if (pin == 3)
76+
{
77+
if (pinActive[0] == BOOL_FALSE)
78+
{
7779
//resetting the control register A and B:
7880
TCCR3A = 0x0;
7981
TCCR3B = 0x0;
@@ -96,12 +98,14 @@ uint8_t Servo::attach(int pin, int min, int max, int defaultPos)
9698

9799
//OC3C, Port E, Bit 5; setting pin 3 as output:
98100
DDRE |= (1 << PE5); //bit 5 (pin 3) as output
99-
101+
100102
pinActive[1] = BOOL_TRUE;
101103
this->servoPin = 3;
102104
}
103-
else if (pin == 7) {
104-
if(pinActive[3] == BOOL_FALSE){
105+
else if (pin == 7)
106+
{
107+
if (pinActive[3] == BOOL_FALSE)
108+
{
105109
//resetting the control register A and B:
106110
TCCR4A = 0x0;
107111
TCCR4B = 0x0;
@@ -124,12 +128,14 @@ uint8_t Servo::attach(int pin, int min, int max, int defaultPos)
124128

125129
//OC4B, Port H, Bit 4; setting pin 7 as output:
126130
DDRH |= (1 << PH4); //bit 4 (pin 7) as output
127-
131+
128132
pinActive[2] = BOOL_TRUE;
129133
this->servoPin = 7;
130134
}
131-
else if (pin == 8) {
132-
if(pinActive[2] == BOOL_FALSE){
135+
else if (pin == 8)
136+
{
137+
if (pinActive[2] == BOOL_FALSE)
138+
{
133139
//resetting the control register A and B:
134140
TCCR4A = 0x0;
135141
TCCR4B = 0x0;
@@ -152,17 +158,19 @@ uint8_t Servo::attach(int pin, int min, int max, int defaultPos)
152158

153159
//OC4C, Port H, Bit 5; setting pin 8 as output:
154160
DDRH |= (1 << PH5); //bit 5 (pin 8) as output
155-
161+
156162
pinActive[3] = BOOL_TRUE;
157163
this->servoPin = 8;
158164
}
159-
else if (pin == 44) {
160-
if(pinActive[5] == BOOL_FALSE){
165+
else if (pin == 44)
166+
{
167+
if (pinActive[5] == BOOL_FALSE)
168+
{
161169
//resetting the control register A and B:
162170
TCCR5A = 0x0;
163171
TCCR5B = 0x0;
164172
}
165-
173+
166174
//setting the prescaler to 8 (2MHz):
167175
TCCR5B |= (1 << CS51);
168176

@@ -180,12 +188,14 @@ uint8_t Servo::attach(int pin, int min, int max, int defaultPos)
180188

181189
//OC5C, Port L, Bit 5; setting pin 44 as output:
182190
DDRL |= (1 << PL5); //bit 5 (pin 44) as output
183-
191+
184192
pinActive[4] = BOOL_TRUE;
185193
this->servoPin = 44;
186194
}
187-
else if (pin == 45) {
188-
if(pinActive[4] == BOOL_FALSE){
195+
else if (pin == 45)
196+
{
197+
if (pinActive[4] == BOOL_FALSE)
198+
{
189199
//resetting the control register A and B:
190200
TCCR5A = 0x0;
191201
TCCR5B = 0x0;
@@ -208,19 +218,20 @@ uint8_t Servo::attach(int pin, int min, int max, int defaultPos)
208218

209219
//OC5B, Port L, Bit 4; setting pin 45 as output:
210220
DDRL |= (1 << PL4); //bit 4 (pin 45) as output
211-
221+
212222
pinActive[5] = BOOL_TRUE;
213223
this->servoPin = 45;
214224
}
215225
}
216-
226+
217227
return this->servoIndex;
218228
}
219229

220-
void Servo::detach()
221-
{
222-
if (servoPin == 2 && pinActive[0] == BOOL_TRUE) {
223-
if(pinActive[1] == BOOL_FALSE){
230+
void Servo::detach() {
231+
if (servoPin == 2 && pinActive[0] == BOOL_TRUE)
232+
{
233+
if (pinActive[1] == BOOL_FALSE)
234+
{
224235
//resetting the control register A and B:
225236
TCCR3A = 0x0;
226237
TCCR3B = 0x0;
@@ -229,11 +240,13 @@ void Servo::detach()
229240
}
230241
OCR3B = 0x0; //resetting the pulse width
231242
DDRE ^= (1 << PE4); //bit 4 (pin 2) stop output
232-
pinActive[0] = BOOL_FALSE;
233-
this->servoPin = 0;
243+
pinActive[0] = BOOL_FALSE;
244+
this->servoPin = 0;
234245
}
235-
else if (servoPin == 3 && pinActive[1] == BOOL_TRUE) {
236-
if(pinActive[0] == BOOL_FALSE){
246+
else if (servoPin == 3 && pinActive[1] == BOOL_TRUE)
247+
{
248+
if (pinActive[0] == BOOL_FALSE)
249+
{
237250
//resetting the control register A and B:
238251
TCCR3A = 0x0;
239252
TCCR3B = 0x0;
@@ -245,8 +258,10 @@ void Servo::detach()
245258
pinActive[1] = BOOL_FALSE;
246259
this->servoPin = 0;
247260
}
248-
else if (servoPin == 7 && pinActive[2] == BOOL_TRUE) {
249-
if(pinActive[3] == BOOL_FALSE){
261+
else if (servoPin == 7 && pinActive[2] == BOOL_TRUE)
262+
{
263+
if (pinActive[3] == BOOL_FALSE)
264+
{
250265
//resetting the control register A and B:
251266
TCCR4A = 0x0;
252267
TCCR4B = 0x0;
@@ -257,9 +272,11 @@ void Servo::detach()
257272
DDRH ^= (1 << PH4); //bit 4 (pin 7) stop output
258273
pinActive[2] = BOOL_FALSE;
259274
this->servoPin = 0;
260-
}
261-
else if (servoPin == 8 && pinActive[3] == BOOL_TRUE) {
262-
if(pinActive[2] == BOOL_FALSE){
275+
}
276+
else if (servoPin == 8 && pinActive[3] == BOOL_TRUE)
277+
{
278+
if (pinActive[2] == BOOL_FALSE)
279+
{
263280
//resetting the control register A and B:
264281
TCCR4A = 0x0;
265282
TCCR4B = 0x0;
@@ -271,8 +288,10 @@ void Servo::detach()
271288
pinActive[3] = BOOL_FALSE;
272289
this->servoPin = 0;
273290
}
274-
else if (servoPin == 44 && pinActive[4] == BOOL_TRUE) {
275-
if(pinActive[5] == BOOL_FALSE){
291+
else if (servoPin == 44 && pinActive[4] == BOOL_TRUE)
292+
{
293+
if (pinActive[5] == BOOL_FALSE)
294+
{
276295
//resetting the control register A and B:
277296
TCCR5A = 0x0;
278297
TCCR5B = 0x0;
@@ -284,8 +303,10 @@ void Servo::detach()
284303
pinActive[4] = BOOL_FALSE;
285304
this->servoPin = 0;
286305
}
287-
else if (servoPin == 45 && pinActive[5] == BOOL_TRUE) {
288-
if(pinActive[4] == BOOL_FALSE){
306+
else if (servoPin == 45 && pinActive[5] == BOOL_TRUE)
307+
{
308+
if (pinActive[4] == BOOL_FALSE)
309+
{
289310
//resetting the control register A and B:
290311
TCCR5A = 0x0;
291312
TCCR5B = 0x0;
@@ -374,8 +395,7 @@ void Servo::detachAll() {
374395
}
375396
}
376397

377-
void Servo::write(int value)
378-
{
398+
void Servo::write(int value) {
379399
float tempValue;
380400

381401
if (value <= 0)
@@ -397,38 +417,46 @@ void Servo::write(int value)
397417
this->writeMicroseconds(value);
398418
}
399419

400-
void Servo::writeMicroseconds(int value)
401-
{
402-
if ((this->servoIndex < MAX_SERVOS)) {
403-
if (value < this->min) {
420+
void Servo::writeMicroseconds(int value) {
421+
if ((this->servoIndex < MAX_SERVOS))
422+
{
423+
if (value < this->min)
424+
{
404425
value = this->min;
405426
}
406-
else if (value > this->max) {
427+
else if (value > this->max)
428+
{
407429
value = this->max;
408430
}
409431
this->pulseWidth = value;
410432

411-
if (this->servoPin == 2 && pinActive[0] == BOOL_TRUE) {
433+
if (this->servoPin == 2 && pinActive[0] == BOOL_TRUE)
434+
{
412435
OCR3B = 0x0;
413436
OCR3B = this->pulseWidth * 2;
414437
}
415-
else if (this->servoPin == 3 && pinActive[1] == BOOL_TRUE) {
438+
else if (this->servoPin == 3 && pinActive[1] == BOOL_TRUE)
439+
{
416440
OCR3C = 0x0;
417441
OCR3C = this->pulseWidth * 2;
418442
}
419-
else if (this->servoPin == 7 && pinActive[2] == BOOL_TRUE) {
443+
else if (this->servoPin == 7 && pinActive[2] == BOOL_TRUE)
444+
{
420445
OCR4B = 0x0;
421446
OCR4B = this->pulseWidth * 2;
422447
}
423-
else if (this->servoPin == 8 && pinActive[3] == BOOL_TRUE) {
448+
else if (this->servoPin == 8 && pinActive[3] == BOOL_TRUE)
449+
{
424450
OCR4C = 0x0;
425451
OCR4C = this->pulseWidth * 2;
426452
}
427-
else if (this->servoPin == 44 && pinActive[4] == BOOL_TRUE) {
453+
else if (this->servoPin == 44 && pinActive[4] == BOOL_TRUE)
454+
{
428455
OCR5C = 0x0;
429456
OCR5C = this->pulseWidth * 2;
430457
}
431-
else if (this->servoPin == 45 && pinActive[5] == BOOL_TRUE) {
458+
else if (this->servoPin == 45 && pinActive[5] == BOOL_TRUE)
459+
{
432460
OCR5B = 0x0;
433461
OCR5B = this->pulseWidth * 2;
434462
}

‎src/Servo_Hardware_PWM.h‎

Lines changed: 3 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -27,14 +27,14 @@
2727
SOFTWARE.
2828
###############################################################################
2929
30-
30+
3131
#########################################################
3232
Only works on pin 2, 3, 7, 8, 44, and 45 on Arduino Mega!
3333
#########################################################
3434
Tested on Arduino Mega 2560 R3.
3535
#########################################################
3636
37-
37+
3838
The methods are:
3939
4040
Servo --- Class for manipulating servo motors connected to Arduino pins. (max. 6 elements)
@@ -65,8 +65,7 @@
6565
#define MAX_SERVOS 6 //6 Servos can be attached
6666
#define INVALID_SERVO_NUMBER 255 //flag indicating an invalid servo index
6767

68-
class Servo
69-
{
68+
class Servo {
7069
public:
7170
Servo();
7271
uint8_t attach(int pin); //attach the given pin; returns servoIndex number or 255 if too many servos

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