diff options
Diffstat (limited to 'stmhal/servo.c')
| -rw-r--r-- | stmhal/servo.c | 24 |
1 files changed, 21 insertions, 3 deletions
diff --git a/stmhal/servo.c b/stmhal/servo.c index 02e2c209b8..2ebe64376f 100644 --- a/stmhal/servo.c +++ b/stmhal/servo.c @@ -11,6 +11,11 @@ #include "timer.h" #include "servo.h" +/// \moduleref pyb +/// \class Servo - 3-wire hobby servo driver +/// +/// Servo controls standard hobby servos with 3-wires (ground, power, signal). + // this servo driver uses hardware PWM to drive servos on PA0, PA1, PA2, PA3 = X1, X2, X3, X4 // TIM2 and TIM5 have CH1, CH2, CH3, CH4 on PA0-PA3 respectively // they are both 32-bit counters with 16-bit prescaler @@ -156,6 +161,8 @@ STATIC void pyb_servo_print(void (*print)(void *env, const char *fmt, ...), void print(env, "<Servo %lu at %luus>", self->servo_id, 10 * self->pulse_cur); } +/// \classmethod \constructor(id) +/// Create a servo object. `id` is 1-4. STATIC mp_obj_t pyb_servo_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const mp_obj_t *args) { // check arguments mp_arg_check_num(n_args, n_kw, 1, 1, false); @@ -177,6 +184,8 @@ STATIC mp_obj_t pyb_servo_make_new(mp_obj_t type_in, uint n_args, uint n_kw, con return s; } +/// \method pulse_width([value]) +/// Get or set the pulse width in milliseconds. STATIC mp_obj_t pyb_servo_pulse_width(uint n_args, const mp_obj_t *args) { pyb_servo_obj_t *self = args[0]; if (n_args == 1) { @@ -190,9 +199,10 @@ STATIC mp_obj_t pyb_servo_pulse_width(uint n_args, const mp_obj_t *args) { return mp_const_none; } } - STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_servo_pulse_width_obj, 1, 2, pyb_servo_pulse_width); +/// \method calibration([pulse_min, pulse_max, pulse_centre, [pulse_angle_90, pulse_speed_100]]) +/// Get or set the calibration of the servo timing. STATIC mp_obj_t pyb_servo_calibration(uint n_args, const mp_obj_t *args) { pyb_servo_obj_t *self = args[0]; if (n_args == 1) { @@ -221,9 +231,13 @@ STATIC mp_obj_t pyb_servo_calibration(uint n_args, const mp_obj_t *args) { // bad number of arguments nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_TypeError, "calibration expecting 1, 4 or 6 arguments, got %d", n_args)); } - STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_servo_calibration_obj, 1, 6, pyb_servo_calibration); +/// \method angle([angle, time=0]) +/// Get or set the angle of the servo. +/// +/// - `angle` is the angle to move to in degrees. +/// - `time` is the number of milliseconds to take to get to the specified angle. STATIC mp_obj_t pyb_servo_angle(uint n_args, const mp_obj_t *args) { pyb_servo_obj_t *self = args[0]; if (n_args == 1) { @@ -247,9 +261,13 @@ STATIC mp_obj_t pyb_servo_angle(uint n_args, const mp_obj_t *args) { return mp_const_none; } } - STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_servo_angle_obj, 1, 3, pyb_servo_angle); +/// \method speed([speed, time=0]) +/// Get or set the speed of a continuous rotation servo. +/// +/// - `speed` is the speed to move to change to, between -100 and 100. +/// - `time` is the number of milliseconds to take to get to the specified speed. STATIC mp_obj_t pyb_servo_speed(uint n_args, const mp_obj_t *args) { pyb_servo_obj_t *self = args[0]; if (n_args == 1) { |