com.diozero.util.ServoUtil Maven / Gradle / Ivy
package com.diozero.util;
/*
* #%L
* Organisation: diozero
* Project: Device I/O Zero - Core
* Filename: ServoUtil.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%
*/
public class ServoUtil {
public static double calcPulseMsPerBit(int pwmFrequency, int range) {
return (1000.0/pwmFrequency) / range;
}
public static int calcServoPulseBits(double pulseWidthMs, double pulseMsPerBit) {
return (int)Math.floor(pulseWidthMs / pulseMsPerBit);
}
/**
* Calculate the number of bits required for the specified pulse width (milliseconds)
* @param pulseWidthMs The required pulse width value
* @param pwmFrequency The servo driver PWM Frequency
* @param range The servo driver range, i.e. if 12 bit then this would be 4096
* @return Relative servo driver duty cycle value required to set the requested pulse width
*/
public static int calcServoPulseBits(double pulseWidthMs, int pwmFrequency, int range) {
return (int)Math.floor(pulseWidthMs / calcPulseMsPerBit(pwmFrequency, range));
}
}