1 files changed, 52 insertions, 0 deletions
diff --git a/libraries/PWMServo/PWMServo.h b/libraries/PWMServo/PWMServo.h
new file mode 100644
index 0000000..cde0337
--- /dev/null
+++ b/libraries/PWMServo/PWMServo.h
@@ -0,0 +1,52 @@
+#ifndef PWMServo_h
+#define PWMServo_h
+
+/*
+  PWMServo.h - Hardware Servo Timer Library
+  Author: Jim Studt, jim@federated.com
+  Copyright (c) 2007 David A. Mellis.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#include <inttypes.h>
+
+class PWMServo
+{
+  private:
+    uint8_t pin;
+    uint8_t angle;       // in degrees
+    uint8_t min16;       // minimum pulse, 16uS units  (default is 34)
+    uint8_t max16;       // maximum pulse, 16uS units, 0-4ms range (default is 150)
+    static void seizeTimer1();
+    static void releaseTimer1();
+    static uint8_t attached9;
+    static uint8_t attached10;
+  public:
+    PWMServo();
+    uint8_t attach(int);
+                             // pulse length for 0 degrees in microseconds, 544uS default
+                             // pulse length for 180 degrees in microseconds, 2400uS default
+    uint8_t attach(int, int, int);
+                             // attach to a pin, sets pinMode, returns 0 on failure, won't
+                             // position the servo until a subsequent write() happens
+                             // Only works for 9 and 10.
+    void detach();
+    void write(int);         // specify the angle in degrees, 0 to 180
+    uint8_t read();
+    uint8_t attached();
+};
+
+#endif