Add min/max micros to attach. Add writeMicroseconds().

Author: nseidle

libraries/Servo/src/Servo.cpp

@@ -28,15 +28,22 @@ SOFTWARE.
 //Constructor
 Servo::Servo()
 {
+
 }
 
-//Assign global var
-void Servo::attach(uint8_t pinNumber)
+void Servo::attach(uint8_t pinNumber, uint16_t minMicros, uint16_t maxMicros)
 {
 	_servoPinNumber = pinNumber;
+	_minMicros = minMicros;
+	_maxMicros = maxMicros;
 	pinMode(_servoPinNumber, OUTPUT);
 }
 
+void Servo::attach(uint8_t pinNumber)
+{
+	attach(pinNumber, 544, 2400); //Start with Arduino defaults
+}
+
 void Servo::write(uint8_t servoPosition)
 {
 	_servoPosition = servoPosition;
@@ -45,13 +52,15 @@ void Servo::write(uint8_t servoPosition)
 
 	uint16_t newServoPosition = map(servoPosition, 0, 181, 0, ((uint16_t)0x01 << getServoResolution()));
 
-	servoWrite(_servoPinNumber, newServoPosition); // This and the above write should both produce 1.5 ms wide pulses, though using different resolutions
+	servoWrite(_servoPinNumber, newServoPosition, _minMicros, _maxMicros);
 }
 
-// void Servo::writeMicroseconds(uint8_t servoPosition)
-// {
-// 	servoWrite(_servoPadNumber, newServoPosition); // This and the above write should both produce 1.5 ms wide pulses, though using different resolutions
-// }
+void Servo::writeMicroseconds(uint16_t microSecs)
+{
+	//Convert microseconds to PWM value
+	uint16_t newServoPosition = microSecs;
+	servoWrite(_servoPinNumber, newServoPosition, _minMicros, _maxMicros);
+}
 
 void Servo::detach(void)
 {

libraries/Servo/src/Servo.h

@@ -31,15 +31,19 @@ class Servo
 {
 public:
   Servo();
+  void attach(uint8_t pinNumber, uint16_t minMicros, uint16_t maxMicros);
   void attach(uint8_t pinNumber);
   void write(uint8_t servoPosition);
+  void writeMicroseconds(uint16_t microSecs);
   void detach(void);
   uint8_t read(void);
   bool attached(uint8_t pinNumber);
 
 private:
   uint8_t _servoPinNumber = 0;
   uint8_t _servoPosition;
+  uint16_t _minMicros;
+  uint16_t _maxMicros;
 };
 
 #endif // _AP3_SERVO_H_