127 lines
3.0 KiB
C++
127 lines
3.0 KiB
C++
//--------------------------------------------------------------
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//-- Oscillator.pde
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//-- Generate sinusoidal oscillations in the servos
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//--------------------------------------------------------------
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//-- (c) Juan Gonzalez-Gomez (Obijuan), Dec 2011
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//-- GPL license
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//--------------------------------------------------------------
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#include "Arduino.h"
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#include "Oscillator.h"
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#if defined(ESP32)
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#include <ESP32_Servo.h>
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#else
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#include <Servo.h>
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#endif
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//-- This function returns true if another sample
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//-- should be taken (i.e. the TS time has passed since
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//-- the last sample was taken
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bool Oscillator::next_sample()
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{
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//-- Read current time
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_currentMillis = millis();
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//-- Check if the timeout has passed
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if(_currentMillis - _previousMillis > _TS) {
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_previousMillis = _currentMillis;
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return true;
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}
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return false;
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}
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//-- Attach an oscillator to a servo
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//-- Input: pin is the arduino pin were the servo
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//-- is connected
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void Oscillator::attach(int pin, bool rev)
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{
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//-- If the oscillator is detached, attach it.
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//-- Attach the servo and move it to the home position
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_servo.attach(pin);
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_servo.write(90);
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//-- Initialization of oscilaltor parameters
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_TS=30;
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_T=2000;
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__N = _T/_TS;
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_inc = 2*M_PI/__N;
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_previousMillis=0;
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//-- Default parameters
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_A=45;
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_phase=0;
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_phase0=0;
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_O=0;
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_stop=false;
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//-- Reverse mode
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_rev = rev;
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}
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//-- Detach an oscillator from his servo
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void Oscillator::detach()
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{
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//-- If the oscillator is attached, detach it.
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if(_servo.attached())
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_servo.detach();
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}
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/*************************************/
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/* Set the oscillator period, in ms */
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/*************************************/
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void Oscillator::SetT(unsigned int T)
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{
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//-- Assign the new period
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_T=T;
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//-- Recalculate the parameters
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__N = _T/_TS;
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_inc = 2*M_PI/__N;
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};
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/*******************************/
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/* Manual set of the position */
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/******************************/
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void Oscillator::SetPosition(int position)
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{
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_servo.write(position+_trim);
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};
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/*******************************************************************/
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/* This function should be periodically called */
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/* in order to maintain the oscillations. It calculates */
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/* if another sample should be taken and position the servo if so */
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/*******************************************************************/
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void Oscillator::refresh()
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{
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//-- Only When TS milliseconds have passed, the new sample is obtained
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if (next_sample()) {
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//-- If the oscillator is not stopped, calculate the servo position
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if (!_stop) {
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//-- Sample the sine function and set the servo pos
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_pos = round(_A * sin(_phase + _phase0) + _O);
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if (_rev) _pos=-_pos;
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Serial.println(_pos+90+_trim);
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_servo.write(_pos+90+_trim);
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}
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//-- Increment the phase
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//-- It is always increased, even when the oscillator is stop
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//-- so that the coordination is always kept
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_phase = _phase + _inc;
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}
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}
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