com.pi4j.library.pigpio.PiGpio_Servo Maven / Gradle / Ivy
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package com.pi4j.library.pigpio;
/*-
* #%L
* **********************************************************************
* ORGANIZATION : Pi4J
* PROJECT : Pi4J :: LIBRARY :: JNI Wrapper for PIGPIO Library
* FILENAME : PiGpio_Servo.java
*
* This file is part of the Pi4J project. More information about
* this project can be found here: https://pi4j.com/
* **********************************************************************
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation, either version 3 of the
* License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Lesser Public License for more details.
*
* You should have received a copy of the GNU General Lesser Public
* License along with this program. If not, see
* .
* #L%
*/
/**
* PiGpio_Servo interface.
*
* @author Robert Savage (http://www.savagehomeautomation.com)
* @version $Id: $Id
*/
public interface PiGpio_Servo {
/**
* Starts servo pulses on the GPIO, 0 (off), 500 (most anti-clockwise) to 2500 (most clockwise).
*
* The range supported by servos varies and should probably be determined by experiment. A value
* of 1500 should always be safe and represents the mid-point of rotation. You can DAMAGE a servo
* if you command it to move beyond its limits.
*
* The following causes an on pulse of 1500 microseconds duration to be transmitted on GPIO 17 at
* a rate of 50 times per second. This will command a servo connected to GPIO 17 to rotate to its
* mid-point.
*
* Example:
* - gpioServo(17, 1000); // Move servo to safe position anti-clockwise.
* - gpioServo(23, 1500); // Move servo to centre position.
* - gpioServo(25, 2000); // Move servo to safe position clockwise.
*
* OTHER UPDATE RATES:
* This function updates servos at 50Hz. If you wish to use a different
* update frequency you will have to use the PWM functions.
*
* PWM Hz 50 100 200 400 500
* 1E6/Hz 20000 10000 5000 2500 2000
*
* Firstly set the desired PWM frequency using gpioSetPWMfrequency.
* Then set the PWM range using gpioSetPWMrange to 1E6/frequency. Doing this
* allows you to use units of microseconds when setting the servo pulsewidth.
*
* E.g. If you want to update a servo connected to GPIO25 at 400Hz*
* - gpioSetPWMfrequency(25, 400);
* - gpioSetPWMrange(25, 2500);
*
* Thereafter use the PWM command to move the servo, e.g. gpioPWM(25, 1500) will set a 1500 us pulse.
*
* @param pin user_gpio: 0-31
* @param pulseWidth 0, 500-2500
* @see PIGPIO::gpioServo
*/
void gpioServo(int pin, int pulseWidth);
/**
* Starts servo pulses on the GPIO, 0 (off), 500 (most anti-clockwise) to 2500 (most clockwise).
*
* The range supported by servos varies and should probably be determined by experiment. A value
* of 1500 should always be safe and represents the mid-point of rotation. You can DAMAGE a servo
* if you command it to move beyond its limits.
*
* The following causes an on pulse of 1500 microseconds duration to be transmitted on GPIO 17 at
* a rate of 50 times per second. This will command a servo connected to GPIO 17 to rotate to its
* mid-point.
*
* Example:
* - gpioServo(17, 1000); // Move servo to safe position anti-clockwise.
* - gpioServo(23, 1500); // Move servo to centre position.
* - gpioServo(25, 2000); // Move servo to safe position clockwise.
*
* OTHER UPDATE RATES:
* This function updates servos at 50Hz. If you wish to use a different
* update frequency you will have to use the PWM functions.
*
* PWM Hz 50 100 200 400 500
* 1E6/Hz 20000 10000 5000 2500 2000
*
* Firstly set the desired PWM frequency using gpioSetPWMfrequency.
* Then set the PWM range using gpioSetPWMrange to 1E6/frequency. Doing this
* allows you to use units of microseconds when setting the servo pulsewidth.
*
* E.g. If you want to update a servo connected to GPIO25 at 400Hz*
* - gpioSetPWMfrequency(25, 400);
* - gpioSetPWMrange(25, 2500);
*
* Thereafter use the PWM command to move the servo, e.g. gpioPWM(25, 1500) will set a 1500 us pulse.
*
* @param pin user_gpio: 0-31
* @param pulseWidth 0, 500-2500
* @see PIGPIO::gpioServo
*/
default void gpioSetServoPulsewidth(int pin, int pulseWidth){
gpioServo(pin,pulseWidth);
}
/**
* Returns the servo pulse-width setting for the GPIO.
*
* @param pin user_gpio: 0-31
* @return Returns 0 (off), 500 (most anti-clockwise) to 2500 (most clockwise) if OK.
* @see PIGPIO::gpioGetServoPulsewidth
*/
int gpioGetServoPulsewidth(int pin);
}