Methods

Functions
void	CodeRacer::servo_settings (uint8_t pos_center, uint8_t pos_left, uint8_t pos_right, uint8_t sweep_left_pos, uint8_t sweep_right_pos)
	Overwrites the default settings taken from header file by the parameters given to this method. More...
void	CodeRacer::servo_sweep ()
	Turns sweeping of the servo from left to right and back on. More...
void	CodeRacer::servo_set_to_right ()
	Drives the servo to the postion that is defined by #servo_right_pos. More...
void	CodeRacer::servo_set_to_left ()
	Drives the servo to the postion that is defined by #servo_left_pos. More...
void	CodeRacer::servo_set_to_center ()
	Drives the servo to the postion that is defined by #servo_center_pos. More...
uint8_t	CodeRacer::servo_set_position_wait (uint8_t position)
	Drive the servo to the postion given to this method. More...
unsigned long	CodeRacer::servo_set_position (uint8_t position)
	Drive the servo to the postion given to this method. More...

Detailed Description

Function Documentation

servo_settings()

void CodeRacer::servo_settings	(	uint8_t	pos_center,
		uint8_t	pos_left,
		uint8_t	pos_right,
		uint8_t	sweep_left_pos,
		uint8_t	sweep_right_pos
	)

Overwrites the default settings taken from header file by the parameters given to this method.

Parameters

pos_center	The postion at which the servo moves to straight forward. Default is 90. Allowed 10 <= pos_center <= 170.
pos_left	The postion at which the servo moves to the left. Default is 170. Allowed 10 <= pos_center <= 170.
pos_right	The postion at which the servo moves to the right. Default is 10. Allowed 10 <= pos_center <= 170.
sweep_left_pos	If the servo is sweeping from left to the right - this defines the most left postion. Default is 140. Allowed 10 <= pos_center <= 170.
sweep_right_pos	If the servo is sweeping from left to the right - this defines the most right postion. Default is 40. Allowed 10 <= pos_center <= 170.

Returns

nothing

Definition at line 510 of file CodeRacer.cpp.

{
    servo_center_pos = pos_center;
    servo_left_pos = pos_left;
    servo_right_pos = pos_right;
    servo_sweep_left_pos = sweep_left_pos;
    servo_sweep_right_pos = sweep_right_pos;
}

servo_sweep()

void CodeRacer::servo_sweep

(

)

Turns sweeping of the servo from left to right and back on.

The sweeping range is defind by #servo_sweep_left_pos and #servo_sweep_right_pos attributes. Both can be set by either servo_settings() or as public members. Every time servo_sweep() is called the servo is driven by 5 steps until either #servo_sweep_left_pos or #servo_sweep_right_pos is reached. Then it will turn the direction and step to the other side every time this method is called.

Returns

nothing

Definition at line 526 of file CodeRacer.cpp.

{
    uint8_t position;
    _servo_sweep = true;
    if (millis() - _servo_position_set_at_ms > SERVO_SWEEP_MS) {
        position = _servo_position + _servo_sweep_step;
        //sprintf(_debugmsg,"[%s] current position=%ld newpostion=%ld", __func__, _servo_position, position);
        if ((position >= servo_sweep_left_pos) || (position >= SERVO_MAX_POSITION)) {
            position = servo_sweep_left_pos;
            _servo_sweep_step = SERVO_SWEEP_TO_RIGHT_STEP;
        }
        if ((position <= servo_sweep_right_pos) || (position <= SERVO_MIN_POSITION)) {
            position = servo_sweep_right_pos;
            _servo_sweep_step = SERVO_SWEEP_TO_LEFT_STEP;
        }
        _servo_set_position(position);
    }
}

servo_set_to_right()

void CodeRacer::servo_set_to_right

(

)

Drives the servo to the postion that is defined by #servo_right_pos.

Returns

nothing

Definition at line 548 of file CodeRacer.cpp.

{
    servo_set_position_wait(servo_right_pos);
}

servo_set_to_left()

void CodeRacer::servo_set_to_left

(

)

Drives the servo to the postion that is defined by #servo_left_pos.

Returns

nothing

Definition at line 556 of file CodeRacer.cpp.

{
    servo_set_position_wait(servo_left_pos);
}

servo_set_to_center()

void CodeRacer::servo_set_to_center

(

)

Drives the servo to the postion that is defined by #servo_center_pos.

Returns

nothing

Definition at line 564 of file CodeRacer.cpp.

{
    servo_set_position_wait(servo_center_pos);
}

servo_set_position_wait()

uint8_t CodeRacer::servo_set_position_wait

(

uint8_t

position

)

Drive the servo to the postion given to this method.

The method will wait until the servo has reached its new position.

Parameters

position

Position the servo will be drived to. Allowed are values 10<=postion<=170. 10 is at the right hand side, 170 at the left hand side.

Returns

The new servo position

Definition at line 575 of file CodeRacer.cpp.

{
    _servo_sweep = false;
    unsigned long wait_time_ms = _servo_set_position(position);
    delay(wait_time_ms);
    return(_servo_position);
}

servo_set_position()

unsigned long CodeRacer::servo_set_position

(

uint8_t

position

)

Drive the servo to the postion given to this method.

The method will not wait until the servo has reached its new position.

Parameters

position

Position the servo will be drived to. Allowed are values 10<=postion<=170. 10 is at the right hand side, 170 at the left hand side.

Returns

The time in ms the servo will need to reach the new position

Definition at line 589 of file CodeRacer.cpp.

{
    _servo_sweep = false;
    unsigned long wait_time_ms = _servo_set_position(position);
    return(wait_time_ms);
}