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package com.diozero.devices;
/*-
* #%L
* Organisation: diozero
* Project: diozero - Core
* Filename: PwmServo.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 org.tinylog.Logger;
import com.diozero.api.GpioDevice;
import com.diozero.api.PinInfo;
import com.diozero.api.RuntimeIOException;
import com.diozero.api.ServoTrim;
import com.diozero.internal.spi.InternalPwmOutputDeviceInterface;
import com.diozero.internal.spi.PwmOutputDeviceFactoryInterface;
import com.diozero.sbc.DeviceFactoryHelper;
import com.diozero.util.RangeUtil;
/**
* @deprecated Use {@link com.diozero.api.ServoDevice} instead.
*/
@Deprecated
public class PwmServo extends GpioDevice {
private static final int DEFAULT_PWM_FREQUENCY = 50;
private int pwmFrequency;
private InternalPwmOutputDeviceInterface device;
private ServoTrim trim;
private boolean inverted;
private OutputDeviceUnit outputDeviceUnit;
public PwmServo(int gpio, float initialPulseWidthMs) throws RuntimeIOException {
this(DeviceFactoryHelper.getNativeDeviceFactory(), gpio, initialPulseWidthMs, DEFAULT_PWM_FREQUENCY,
ServoTrim.DEFAULT);
}
public PwmServo(int gpio, float initialPulseWidthMs, ServoTrim trim) throws RuntimeIOException {
this(DeviceFactoryHelper.getNativeDeviceFactory(), gpio, initialPulseWidthMs, DEFAULT_PWM_FREQUENCY, trim);
}
public PwmServo(int gpio, float initialPulseWidthMs, int pwmFrequency) throws RuntimeIOException {
this(DeviceFactoryHelper.getNativeDeviceFactory(), gpio, initialPulseWidthMs, pwmFrequency, ServoTrim.DEFAULT);
}
public PwmServo(int gpio, float initialPulseWidthMs, int pwmFrequency, ServoTrim trim) throws RuntimeIOException {
this(DeviceFactoryHelper.getNativeDeviceFactory(), gpio, initialPulseWidthMs, pwmFrequency, trim);
}
public PwmServo(PwmOutputDeviceFactoryInterface pwmDeviceFactory, int gpio, float initialPulseWidthMs,
int pwmFrequency) throws RuntimeIOException {
this(pwmDeviceFactory, gpio, initialPulseWidthMs, pwmFrequency, ServoTrim.DEFAULT);
}
public PwmServo(PwmOutputDeviceFactoryInterface pwmDeviceFactory, int gpio, float initialPulseWidthMs,
int pwmFrequency, ServoTrim trim) throws RuntimeIOException {
this(pwmDeviceFactory, pwmDeviceFactory.getBoardPinInfo().getByPwmOrGpioNumberOrThrow(gpio),
initialPulseWidthMs, pwmFrequency, trim);
}
public PwmServo(PwmOutputDeviceFactoryInterface pwmDeviceFactory, PinInfo pinInfo, float initialPulseWidthMs,
int pwmFrequency, ServoTrim trim) throws RuntimeIOException {
super(pinInfo);
this.pwmFrequency = pwmFrequency;
this.trim = trim;
// Default the set / get value unit to pulse width ms
outputDeviceUnit = OutputDeviceUnit.PULSE_WIDTH_MS;
device = pwmDeviceFactory.provisionPwmOutputDevice(pinInfo, pwmFrequency, (int) initialPulseWidthMs * 1000);
}
public OutputDeviceUnit getOutputDeviceUnit() {
return outputDeviceUnit;
}
public PwmServo setOutputDeviceUnit(OutputDeviceUnit outputDeviceUnit) {
this.outputDeviceUnit = outputDeviceUnit;
return this;
}
public PwmServo 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;
}
public void setValue(float value) {
switch (outputDeviceUnit) {
case PULSE_WIDTH_MS:
setPulseWidthMs(value);
break;
case DEGREES:
setAngle((int) value);
break;
case RADIANS:
setAngle((int) 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(int 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 enum OutputDeviceUnit {
PULSE_WIDTH_MS, DEGREES, RADIANS;
}
}
