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package com.diozero.devices;
/*
* #%L
* Organisation: diozero
* Project: Device I/O Zero - Core
* Filename: Servo.java
*
* This file is part of the diozero project. More information about this project
* can be found at http://www.diozero.com/
* %%
* Copyright (C) 2016 - 2021 diozero
* %%
* 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.
* #L%
*/
import java.io.Closeable;
import java.util.Arrays;
import java.util.Collection;
import org.tinylog.Logger;
import com.diozero.api.GpioDevice;
import com.diozero.api.OutputDeviceCollection;
import com.diozero.api.OutputDeviceInterface;
import com.diozero.api.RuntimeIOException;
import com.diozero.internal.spi.PwmOutputDeviceFactoryInterface;
import com.diozero.internal.spi.PwmOutputDeviceInterface;
import com.diozero.sbc.DeviceFactoryHelper;
import com.diozero.util.RangeUtil;
public class Servo extends GpioDevice implements OutputDeviceInterface {
private static final int DEFAULT_PWM_FREQUENCY = 50;
private int pwmFrequency;
private PwmOutputDeviceInterface device;
private Trim trim;
private boolean inverted;
private OutputDeviceUnit outputDeviceUnit;
public Servo(int gpio, float initialPulseWidthMs) throws RuntimeIOException {
this(DeviceFactoryHelper.getNativeDeviceFactory(), gpio, initialPulseWidthMs, DEFAULT_PWM_FREQUENCY,
Trim.DEFAULT);
}
public Servo(int gpio, float initialPulseWidthMs, Trim trim) throws RuntimeIOException {
this(DeviceFactoryHelper.getNativeDeviceFactory(), gpio, initialPulseWidthMs, DEFAULT_PWM_FREQUENCY, trim);
}
public Servo(int gpio, float initialPulseWidthMs, int pwmFrequency) throws RuntimeIOException {
this(DeviceFactoryHelper.getNativeDeviceFactory(), gpio, initialPulseWidthMs, pwmFrequency, Trim.DEFAULT);
}
public Servo(int gpio, float initialPulseWidthMs, int pwmFrequency, Trim trim) throws RuntimeIOException {
this(DeviceFactoryHelper.getNativeDeviceFactory(), gpio, initialPulseWidthMs, pwmFrequency, trim);
}
public Servo(PwmOutputDeviceFactoryInterface pwmDeviceFactory, int gpio, float initialPulseWidthMs,
int pwmFrequency) throws RuntimeIOException {
this(pwmDeviceFactory, gpio, initialPulseWidthMs, pwmFrequency, Trim.DEFAULT);
}
public Servo(PwmOutputDeviceFactoryInterface pwmDeviceFactory, int gpio, float initialPulseWidthMs,
int pwmFrequency, Trim trim) throws RuntimeIOException {
super(gpio);
this.pwmFrequency = pwmFrequency;
this.trim = trim;
// Default the set / get value unit to pulse width ms
outputDeviceUnit = OutputDeviceUnit.PULSE_WIDTH_MS;
this.device = pwmDeviceFactory.provisionPwmOutputDevice(gpio, pwmFrequency,
mapPulseWidthMsToPercentage(initialPulseWidthMs));
}
public OutputDeviceUnit getOutputDeviceUnit() {
return outputDeviceUnit;
}
public Servo setOutputDeviceUnit(OutputDeviceUnit outputDeviceUnit) {
this.outputDeviceUnit = outputDeviceUnit;
return this;
}
public Servo setInverted(boolean inverted) {
this.inverted = inverted;
return this;
}
@Override
public void close() {
device.close();
Logger.trace("device closed");
}
public int getPwmFrequency() {
return pwmFrequency;
}
public float getValue() {
float value = 0;
switch (outputDeviceUnit) {
case PULSE_WIDTH_MS:
value = getPulseWidthMs();
break;
case DEGREES:
value = getAngle();
break;
case RADIANS:
value = (float) Math.toRadians(getAngle());
break;
}
return value;
}
@Override
public void setValue(float value) {
switch (outputDeviceUnit) {
case PULSE_WIDTH_MS:
setPulseWidthMs(value);
break;
case DEGREES:
setAngle(value);
break;
case RADIANS:
setAngle((float) Math.toDegrees(value));
break;
}
}
/**
* Get the current servo pulse width in milliseconds
*
* @return The servo pulse width (milliseconds)
*/
public float getPulseWidthMs() {
return device.getValue() * 1000f / pwmFrequency;
}
/**
* Set the servo pulse width in milliseconds
*
* @param pulseWidthMs
* Servo pulse width (milliseconds)
*/
public void setPulseWidthMs(float pulseWidthMs) {
if (inverted) {
pulseWidthMs = trim.getMidPulseWidthMs() - pulseWidthMs + trim.getMidPulseWidthMs();
}
device.setValue(mapPulseWidthMsToPercentage(pulseWidthMs));
}
/**
* Get the current servo angle where 90 degrees is the middle position
* @return Servo angle (90 degrees is middle)
*/
public float getAngle() {
return trim.convertPulseWidthMsToAngle(getPulseWidthMs());
}
/**
* Turn the servo to the specified angle where 90 is the middle position
* @param angle Servo angle (90 degrees is middle)
*/
public void setAngle(float angle) {
setPulseWidthMs(trim.convertAngleToPulseWidthMs(angle));
}
public void min() {
setPulseWidthMs(trim.getMinPulseWidthMs());
}
public void max() {
setPulseWidthMs(trim.getMaxPulseWidthMs());
}
public void centre() {
setPulseWidthMs(trim.getMidPulseWidthMs());
}
private float mapPulseWidthMsToPercentage(float pulseWidthMs) {
return RangeUtil.constrain(pulseWidthMs, trim.getMinPulseWidthMs(), trim.getMaxPulseWidthMs()) * pwmFrequency / 1000f;
}
public static enum OutputDeviceUnit {
PULSE_WIDTH_MS, DEGREES, RADIANS;
}
public static class Array extends OutputDeviceCollection implements Closeable {
private Collection servos;
public Array(Servo... servos) {
super(servos);
this.servos = Arrays.asList(servos);
}
@Override
public void close() {
servos.forEach(Servo::close);
}
}
public static class Trim {
public static final float MID_ANGLE = 90;
public static final float DEFAULT_MID = 1.5f;
public static final float DEFAULT_90_DELTA = 0.9f;
// Default to 180 degree range, from 0.6ms to 2.4ms with 1.5ms centre
public static final Trim DEFAULT = new Trim(DEFAULT_MID, DEFAULT_90_DELTA);
// From my testing TowerPro SG90 has a range slightly greater than 180 degree
private static final float TOWERPRO_SG90_RANGE = 2f;
public static final Trim TOWERPRO_SG90 = new Trim(DEFAULT_MID, DEFAULT_90_DELTA, TOWERPRO_SG90_RANGE);
// From my testing TowerPro SG5010 has a range slightly greater than 180 degree
private static final float TOWERPRO_SG5010_RANGE = 2f;
public static final Trim TOWERPRO_SG5010 = new Trim(DEFAULT_MID, DEFAULT_90_DELTA, TOWERPRO_SG5010_RANGE);
private static final float MG996R_RANGE = 2f;
public static final Trim MG996R = new Trim(DEFAULT_MID, DEFAULT_90_DELTA, MG996R_RANGE);
private float midPulseWidthMs;
private float ninetyDegPulseWidthMs;
private float minPulseWidthMs;
private float maxPulseWidthMs;
private float minAngle;
private float maxAngle;
/**
* Assumes 180 degree range of movement
* @param midPulseWidthMs Pulse width in ms corresponding to the centre position (90 degrees)
* @param ninetyDegPulseWidthMs Pulse width in ms corresponding to a 90 degreee movement in either direction
*/
public Trim(float midPulseWidthMs, float ninetyDegPulseWidthMs) {
this(midPulseWidthMs, ninetyDegPulseWidthMs, 2*ninetyDegPulseWidthMs);
}
public Trim(float midPulseWidthMs, float ninetyDegPulseWidthMs, float rangePulseWidthMs) {
this(midPulseWidthMs, ninetyDegPulseWidthMs, midPulseWidthMs - rangePulseWidthMs / 2,
midPulseWidthMs + rangePulseWidthMs / 2);
}
public Trim(float midPulseWidthMs, float ninetyDegPulseWidthMs, float minPulseWidthMs, float maxPulseWidthMs) {
this.midPulseWidthMs = midPulseWidthMs;
this.ninetyDegPulseWidthMs = ninetyDegPulseWidthMs;
this.minPulseWidthMs = minPulseWidthMs;
this.maxPulseWidthMs = maxPulseWidthMs;
minAngle = RangeUtil.map(minPulseWidthMs, midPulseWidthMs - ninetyDegPulseWidthMs,
midPulseWidthMs + ninetyDegPulseWidthMs, 0, 180, false);
maxAngle = RangeUtil.map(maxPulseWidthMs, midPulseWidthMs - ninetyDegPulseWidthMs,
midPulseWidthMs + ninetyDegPulseWidthMs, 0, 180, false);
}
public float getMidPulseWidthMs() {
return midPulseWidthMs;
}
public float getNinetyDegPulseWidthMs() {
return ninetyDegPulseWidthMs;
}
public float getMinPulseWidthMs() {
return minPulseWidthMs;
}
public float getMaxPulseWidthMs() {
return maxPulseWidthMs;
}
public float getMinAngle() {
return minAngle;
}
public float getMaxAngle() {
return maxAngle;
}
@SuppressWarnings("static-method")
public float getMidAngle() {
return MID_ANGLE;
}
public float convertPulseWidthMsToAngle(float pulseWidthMs) {
return RangeUtil.map(pulseWidthMs, minPulseWidthMs, maxPulseWidthMs, minAngle, maxAngle);
}
public float convertAngleToPulseWidthMs(float angle) {
return RangeUtil.map(angle, minAngle, maxAngle, minPulseWidthMs, maxPulseWidthMs);
}
}
}
