/// \method pulse_width([value])
/// Get or set the pulse width in milliseconds.
STATIC mp_obj_t pyb_servo_pulse_width(mp_uint_t n_args, const mp_obj_t *args) {
pyb_servo_obj_t *self = args[0];
if (n_args == 1) {
// get pulse width, in us
return mp_obj_new_int(10 * self->pulse_cur);
} else {
// set pulse width, in us
self->pulse_dest = mp_obj_get_int(args[1]) / 10;
self->time_left = 0;
servo_timer_irq_callback();
return mp_const_none;
}
}
// Interrupt dispatch
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
if (htim == &TIM3_Handle) {
USBD_CDC_HAL_TIM_PeriodElapsedCallback();
// Periodically raise a flash IRQ for the flash storage controller
if (tim3_counter++ >= 500 / USBD_CDC_POLLING_INTERVAL) {
tim3_counter = 0;
NVIC->STIR = FLASH_IRQn;
}
} else if (htim == &TIM5_Handle) {
servo_timer_irq_callback();
}
}
/// \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(mp_uint_t n_args, const mp_obj_t *args) {
pyb_servo_obj_t *self = args[0];
if (n_args == 1) {
// get speed
return mp_obj_new_int((self->pulse_cur - self->pulse_centre) * 100 / self->pulse_speed_100);
} else {
#if MICROPY_PY_BUILTINS_FLOAT
self->pulse_dest = self->pulse_centre + self->pulse_speed_100 * mp_obj_get_float(args[1]) / 100.0;
#else
self->pulse_dest = self->pulse_centre + self->pulse_speed_100 * mp_obj_get_int(args[1]) / 100;
#endif
if (n_args == 2) {
// set speed immediately
self->time_left = 0;
} else {
// set speed over a given time (given in milli seconds)
self->time_left = mp_obj_get_int(args[2]) / 20;
self->pulse_accum = 0;
}
servo_timer_irq_callback();
return mp_const_none;
}
}
/// \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) {
// get angle
return mp_obj_new_int((self->pulse_cur - self->pulse_centre) * 90 / self->pulse_angle_90);
} else {
#if MICROPY_ENABLE_FLOAT
self->pulse_dest = self->pulse_centre + self->pulse_angle_90 * mp_obj_get_float(args[1]) / 90.0;
#else
self->pulse_dest = self->pulse_centre + self->pulse_angle_90 * mp_obj_get_int(args[1]) / 90;
#endif
if (n_args == 2) {
// set angle immediately
self->time_left = 0;
} else {
// set angle over a given time (given in milli seconds)
self->time_left = mp_obj_get_int(args[2]) / 20;
self->pulse_accum = 0;
}
servo_timer_irq_callback();
return mp_const_none;
}
}
