73 lines
1.8 KiB
C++
73 lines
1.8 KiB
C++
//--------------------------------------------------------------
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//-- Oscillator
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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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#ifndef Oscillator_h
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#define 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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//-- Macro for converting from degrees to radians
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#ifndef DEG2RAD
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#define DEG2RAD(g) ((g)*M_PI)/180
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#endif
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class Oscillator
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{
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public:
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Oscillator(int trim=0) {_trim=trim;};
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void attach(int pin, bool rev =false);
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void detach();
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void SetA(unsigned int A) {_A=A;};
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void SetO(unsigned int O) {_O=O;};
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void SetPh(double Ph) {_phase0=Ph;};
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void SetT(unsigned int T);
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void SetTrim(int trim){_trim=trim;};
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int getTrim() {return _trim;};
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void SetPosition(int position);
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void Stop() {_stop=true;};
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void Play() {_stop=false;};
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void Reset() {_phase=0;};
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void refresh();
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private:
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bool next_sample();
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private:
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//-- Servo that is attached to the oscillator
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Servo _servo;
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//-- Oscillators parameters
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unsigned int _A; //-- Amplitude (degrees)
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unsigned int _O; //-- Offset (degrees)
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unsigned int _T; //-- Period (miliseconds)
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double _phase0; //-- Phase (radians)
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//-- Internal variables
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int _pos; //-- Current servo pos
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int _trim; //-- Calibration offset
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double _phase; //-- Current phase
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double _inc; //-- Increment of phase
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double __N; //-- Number of samples
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unsigned int _TS; //-- sampling period (ms)
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long _previousMillis;
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long _currentMillis;
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//-- Oscillation mode. If true, the servo is stopped
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bool _stop;
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//-- Reverse mode
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bool _rev;
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};
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#endif
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