#include <Servo.h>

Public Member Functions
	Servo ()
	Construct a new Servo instance. More...

	~Servo ()
	Destructor a Servo instance. More...

bool	attach (uint8_t pin, uint16_t min_pulse_width=SERVO_MIN_PULSE_WIDTH, uint16_t max_pulse_width=SERVO_MAX_PULSE_WIDTH, uint16_t min_angle=SERVO_MIN_ANGLE, uint16_t max_angle=SERVO_MAX_ANGLE)
	Associate this instance with a servomotor whose input is connected to pin. More...

bool	detach ()
	Stop driving the servo pulse train. More...

void	write (uint16_t angle)
	Set the servomotor target angle. More...

void	writeMicroseconds (uint16_t pulse_width)
	Set the pulse width, in microseconds. More...

uint16_t	read () const

bool	attached () const
	Check if this instance is attached to a servo. More...

uint8_t	attachedPin () const
	Get the pin this instance is attached to. More...

Detailed Description

Class for interfacing with RC servomotors.

Constructor & Destructor Documentation

◆ Servo()

Servo::Servo ( )

Construct a new Servo instance.

The new instance will not be attached to any pin.

◆ ~Servo()

Servo::~Servo ( )

Destructor a Servo instance.

The instance will be detached if it is attached to any pin.

Member Function Documentation

◆ attach()

bool Servo::attach	(	uint8_t	pin,
		uint16_t	min_pulse_width = `SERVO_MIN_PULSE_WIDTH`,
		uint16_t	max_pulse_width = `SERVO_MAX_PULSE_WIDTH`,
		uint16_t	min_angle = `SERVO_MIN_ANGLE`,
		uint16_t	max_angle = `SERVO_MAX_ANGLE`
	)

Associate this instance with a servomotor whose input is connected to pin.

If this instance is already attached to a pin, it will be detached before being attached to the new pin. This function doesn't detach any interrupt attached with the pin's timer channel.

Parameters

pin	Pin connected to the servo pulse wave input. This pin must be capable of PWM output.
min_pulse_width	Minimum pulse width to write to pin, in microseconds. This will be associated with a min_angle degree angle. Defaults to SERVO_DEFAULT_MIN_PW = 544.
max_pulse_width	Maximum pulse width to write to pin, in microseconds. This will be associated with a max_angle degree angle. Defaults to SERVO_DEFAULT_MAX_PW = 2400.
min_angle	Target angle (in degrees) associated with min_pulse_width. Defaults to SERVO_DEFAULT_MIN_ANGLE = 0.
max_angle	Target angle (in degrees) associated with max_pulse_width. Defaults to SERVO_DEFAULT_MAX_ANGLE = 180.

@sideeffect May set pinMode(pin, PWM).

Returns: true if successful, false when pin doesn't support PWM.

◆ detach()

bool Servo::detach ( )

Stop driving the servo pulse train.

If not currently attached to a motor, this function has no effect.

Returns: true if this call did anything, false otherwise.

◆ write()

void Servo::write ( uint16_t angle )

Set the servomotor target angle.

Parameters

angle Target angle, in degrees. If the target angle is outside the range specified at attach() time, it will be clamped to lie in that range.

See also: Servo::attach()

◆ writeMicroseconds()

void Servo::writeMicroseconds ( uint16_t pulse_width )

Set the pulse width, in microseconds.

Parameters

pulse_width Pulse width to send to the servomotor, in microseconds. If outside of the range specified at attach() time, it is clamped to lie in that range.