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package com.diozero.api;
/*-
* #%L
* Organisation: diozero
* Project: diozero - Core
* Filename: ServoTrim.java
*
* This file is part of the diozero project. More information about this project
* can be found at https://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 com.diozero.util.RangeUtil;
/**
* Arduino defaults to a range of 544 to 2400.
*
* 1 to 2 ms is the minimum pulse range used in the R/C radio control industry.
* The maximum pulse range is a servo specific value that you must determine by
* either manufacture's datasheet information or by testing of the specific
* servo you are using.
*/
public class ServoTrim {
public static final int MID_ANGLE = 90;
public static final int DEFAULT_MID_US = 1_500;
public static final int DEFAULT_90_DELTA_US = 900;
/** Default to 180 degree range, from 0.6ms to 2.4ms with 1.5ms centre */
public static final ServoTrim DEFAULT = new ServoTrim(DEFAULT_MID_US, DEFAULT_90_DELTA_US);
// From my testing TowerPro SG90 has a range slightly greater than 180 degree
// (0.5-2.4)
private static final int TOWERPRO_SG90_RANGE_US = 1_800;
public static final ServoTrim TOWERPRO_SG90 = new ServoTrim(DEFAULT_MID_US, DEFAULT_90_DELTA_US,
TOWERPRO_SG90_RANGE_US);
// From my testing TowerPro SG5010 has a range slightly greater than 180 degree
private static final int TOWERPRO_SG5010_RANGE_US = 2_000;
public static final ServoTrim TOWERPRO_SG5010 = new ServoTrim(DEFAULT_MID_US, DEFAULT_90_DELTA_US,
TOWERPRO_SG5010_RANGE_US);
private static final int MG996R_RANGE_US = 2_000;
public static final ServoTrim MG996R = new ServoTrim(DEFAULT_MID_US, DEFAULT_90_DELTA_US, MG996R_RANGE_US);
private int midPulseWidthUs;
private int ninetyDegPulseWidthUs;
private int minPulseWidthUs;
private int maxPulseWidthUs;
private int minAngle;
private int maxAngle;
/**
* Assumes 180 degree range of movement
*
* @param midPulseWidthUs Pulse width in microseconds corresponding to the
* centre position (90 degrees)
* @param ninetyDegPulseWidthUs Pulse width in microseconds corresponding to a
* 90 degree movement in either direction
*/
public ServoTrim(int midPulseWidthUs, int ninetyDegPulseWidthUs) {
this(midPulseWidthUs, ninetyDegPulseWidthUs, 2 * ninetyDegPulseWidthUs);
}
public ServoTrim(int midPulseWidthUs, int ninetyDegPulseWidthUs, int rangePulseWidthUs) {
this(midPulseWidthUs, ninetyDegPulseWidthUs, midPulseWidthUs - rangePulseWidthUs / 2,
midPulseWidthUs + rangePulseWidthUs / 2);
}
public ServoTrim(int midPulseWidthUs, int ninetyDegPulseWidthUs, int minPulseWidthUs, int maxPulseWidthUs) {
this.midPulseWidthUs = midPulseWidthUs;
this.ninetyDegPulseWidthUs = ninetyDegPulseWidthUs;
this.minPulseWidthUs = minPulseWidthUs;
this.maxPulseWidthUs = maxPulseWidthUs;
minAngle = RangeUtil.map(minPulseWidthUs, midPulseWidthUs - ninetyDegPulseWidthUs,
midPulseWidthUs + ninetyDegPulseWidthUs, 0, 180, false);
maxAngle = RangeUtil.map(maxPulseWidthUs, midPulseWidthUs - ninetyDegPulseWidthUs,
midPulseWidthUs + ninetyDegPulseWidthUs, 0, 180, false);
}
public int getMidPulseWidthUs() {
return midPulseWidthUs;
}
public float getMidPulseWidthMs() {
return midPulseWidthUs / 1_000f;
}
public int getNinetyDegPulseWidthUs() {
return ninetyDegPulseWidthUs;
}
public float getNinetyDegPulseWidthMs() {
return ninetyDegPulseWidthUs / 1_000f;
}
public int getMinPulseWidthUs() {
return minPulseWidthUs;
}
public float getMinPulseWidthMs() {
return minPulseWidthUs / 1_000f;
}
public int getMaxPulseWidthUs() {
return maxPulseWidthUs;
}
public float getMaxPulseWidthMs() {
return maxPulseWidthUs / 1_000f;
}
public int getMinAngle() {
return minAngle;
}
public int getMaxAngle() {
return maxAngle;
}
@SuppressWarnings("static-method")
public int getMidAngle() {
return MID_ANGLE;
}
public int convertPulseWidthUsToAngle(int pulseWidthUs) {
return RangeUtil.map(pulseWidthUs, minPulseWidthUs, maxPulseWidthUs, minAngle, maxAngle);
}
public int convertAngleToPulseWidthUs(int angle) {
return RangeUtil.map(angle, minAngle, maxAngle, minPulseWidthUs, maxPulseWidthUs);
}
public int convertPulseWidthMsToAngle(float pulseWidthMs) {
return convertPulseWidthUsToAngle((int) (pulseWidthMs * 1_000));
}
public float convertAngleToPulseWidthMs(int angle) {
return convertAngleToPulseWidthUs(angle) / 1_000f;
}
}
