Fs90r servo

README.md

@@ -64,6 +64,8 @@ The following table the currently supported devices within this project:
 | Sensor      | 1-Wire     | (1)     | [DHT22 Temp/Humidity sensor](src/main/java/com/pi4j/devices/dht22/README.md)                                                                  
 | Sensor      |            |         | [HC-SR04 Ultrasonic Sensor](src/main/java/com/pi4j/devices/hcsr04/README.md)                                                                  
 | Sensor      | I2C        | (1)     | [MPL3115A2 Temp/Pressure/Altitude device](src/main/java/com/pi4j/devices/mpl3115a2/README.md)                                                 
+| Servo       | PWM        |         | [SG90 180 degree servo motor device](src/main/java/com/pi4j/devices/sg90/README.md)                                                 
+| Servo       | PWM        |         | [FS90R 360 degree continuous servo motor device](src/main/java/com/pi4j/devices/fs90r/README.md)                                                 
 
 
 ### Notes:

assets/runFs90r.sh

@@ -0,0 +1,5 @@
+#!/usr/bin/env bash
+
+
+
+ java  -classpath ./*:../classes  com.pi4j.devices.fs90r.Fs90rApp  $@

src/main/java/com/pi4j/devices/fs90r/Fs90rApp.java

@@ -0,0 +1,196 @@
+/*
+ *  /*
+ *  *
+ *
+ */
+
+package com.pi4j.devices.fs90r;
+
+
+import com.pi4j.drivers.motor.fs90r.Fs90RDriver;
+import com.pi4j.io.pwm.Pwm;
+import com.pi4j.io.pwm.PwmConfigBuilder;
+import com.pi4j.boardinfo.util.PwmChipUtil;
+import com.pi4j.Pi4J;
+import com.pi4j.context.Context;
+import com.pi4j.io.pwm.PwmConfig;
+import com.pi4j.io.pwm.PwmType;
+import com.pi4j.util.Console;
+import com.pi4j.util.Delay;
+
+     /**
+     * Example implementation for a FS90R servo motor.
+     * The Fs90R defines a specific PWM interface and exactly how the PWN signal
+     * controls the servo
+     *
+     * https://www.pololu.com/product/2820
+     *
+     *   See the README.md file for example usage and explanation.
+     *
+     *   FS90R servo motor control.  The driver will use the PWM device created by
+     *   this app. It is assumed the device is a HardWare PWM.  Hardware PWM creates
+     *   a more consistent PWM signal.
+     */
+    public class Fs90rApp {
+
+        private static final int DEFAULT_PWM_FREQUENCY = 50;
+        private static final int DEFAULT_CHANNEL_NUMBER = 2;
+        private static final int SERVO_NUMBER = 1;
+
+
+       private static double degree = 90.0;
+        private static Integer channel = DEFAULT_CHANNEL_NUMBER ;
+        private static Console console ;
+        private static Fs90RDriver fs90R ;
+        private static final Delay delay = new Delay();
+        private static java .util.Scanner scanner;
+        private static double lowPulse = 1000.0;
+        private static double highPulse = 2000.0;
+
+
+        public Fs90rApp() {
+            super();
+
+        }
+
+
+        /**
+         * <p>main.</p>
+         * See the README.md file for example usage.
+         * @param args an array of {@link java.lang.String} objects.
+         * @throws java.lang.Exception if any.
+         */
+         static void main(String[] args) throws Exception {
+           System.setProperty("org.slf4j.simpleLogger.defaultLogLevel", "INFO");
+
+           int onlyOne = 0;   // numerous parms a mutually exclusive
+
+            scanner = new java.util.Scanner(System.in);
+
+            console = new Console();
+            Context pi4j = Pi4J.newAutoContext();
+            console.title("<-- The Pi4J V5 Project Extension  -->", "Fs90rApp");
+            String helpString = " Parms: -c channel -cw (clockwise) S M F  -ccw (counter-clockwise) S M F  -h HELP \n" +
+                "    -low microseconds -high microseconds  -cw -ccw mutually exclusive  -d degree \n" +
+                "    degree must be in the range 0..180. 90 stop, 0..89 CW, 91..180 CCW ";
+
+
+            for (int i = 0; i < args.length; i++) {
+                String o = args[i];
+                if (o.contentEquals("-low")) {
+                    String a = args[i + 1];
+                    lowPulse = Double.parseDouble(a.substring(0));
+                    i++;
+                } else if (o.contentEquals("-high")) {
+                    String a = args[i + 1];
+                    highPulse = Double.parseDouble(a.substring(0));
+                    i++;
+                } else if (o.contentEquals("-d")) {
+                    String a = args[i + 1];
+                    degree = Double.parseDouble(a.substring(0));
+                    if((!Double.isFinite(degree) || degree < 0) || (degree > 180)){
+                        console.println("-d  degree must be in range 0..180");
+                        System.exit(40);
+                    }
+                    onlyOne++;
+                    i++;
+                } else if (o.contentEquals("-c")) {
+                    String a = args[i + 1];
+                    channel = Integer.parseInt(a.substring(0));
+                    i++;
+                } else if (o.contentEquals("-cw")) {  /* 0-89 */
+                    String a = args[i + 1];
+                    onlyOne++;
+                    i++;
+                    if (a.equalsIgnoreCase("S")) {
+                        degree = 75.0;
+                    } else if (a.equalsIgnoreCase("M")) {
+                        degree = 40.0;
+                    }  else if (a.equalsIgnoreCase("F")) {
+                        degree = 0.0;
+                    } else {
+                        console.println("  -cw invalid ");
+                        System.exit(41);
+                    }
+                } else if (o.contentEquals("-ccw")) {  /* 191-180 */
+                    String a = args[i + 1];
+                    i++;
+                    onlyOne++;
+                   if (a.equalsIgnoreCase("S")) {
+                        degree = 105.0;
+                    } else if (a.equalsIgnoreCase("M")) {
+                        degree = 140.0;
+                    }  else if (a.equalsIgnoreCase("F")) {
+                        degree = 180.0;
+                    } else {
+                        console.println("  -ccw invalid ");
+                        System.exit(42);
+                    }
+                } else if (o.contentEquals("-q")) {
+                    console.println("Exit");
+                    System.exit(0);
+                } else if (o.contentEquals("-h")) {
+                    console.println(helpString);
+                    System.exit(0);
+                }else {
+                    console.println("  !!! Invalid Parm " + o);
+                    console.println(helpString);
+                    System.exit(43);
+                }
+            }
+
+            if (onlyOne > 1 ) {
+                console.println(" mutually exclusive parms used.");
+                console.println(helpString);
+                System.exit(44);
+            }
+            Pwm pwm = createPwm(SERVO_NUMBER, channel, pi4j);
+
+            fs90R = new Fs90RDriver(pwm, lowPulse, highPulse);
+
+            // if user did not provide a -cw -ccw or -d   default sets stop
+            fs90R.setServoRotation(degree);
+
+            waitChange( 10l);
+
+            pi4j.shutdown(pwm);
+
+        }
+
+
+        static Pwm createPwm(int servoNumber, Integer channel, Context pi4j) {
+
+            final PwmConfig config = PwmConfigBuilder.newInstance (pi4j)
+                .id ("fs90RNumber" + servoNumber)
+                .name ("fs90R number " + servoNumber)
+                .pwmType(PwmType.HARDWARE)
+                .channel(channel)
+                .chip(PwmChipUtil.getPWMChip())
+                .frequency(DEFAULT_PWM_FREQUENCY)
+                .build ();
+
+            return pi4j.create (config);
+        }
+
+        static void waitChange(long c){
+            while(true){
+                delay.setMillis(c).materialize();
+                console.println("Enter q - quit, or degree value ");
+                if (scanner.hasNextInt() ) {
+                    double nextDegree = scanner.nextDouble();
+                    if((!Double.isFinite(nextDegree) || nextDegree < 0) || (nextDegree > 180)){
+                        console.println(" degree must be in the range 0..180. 90 stop, 0..89 CW, 91..180 CCW");
+                    }else {
+                        fs90R.setServoRotation(nextDegree);
+                    }
+                } else{
+                    break;
+                }
+            }
+        }
+    }
+
+
+
+
+

src/main/java/com/pi4j/devices/fs90r/README.md

@@ -0,0 +1,74 @@
+
+
+##Device application to operate a Fs90r stepping servo.  This servo can rotate 360 degree continuously. 
+The PWM signal sent to the servo device set the direction and RPM of rotation.
+
+
+
+ Driver for a Fs90r servo motor.
+ The Fs90r defines a specific PWM interface and exactly how the PWN signal
+ controls the servo
+
+ https://www.pololu.com/product/2820
+
+
+   These devices do not have a customary DataSheet.  Most servo devices provide limited specifications
+ for required pulse width, they just say 1 - 2 millisecond.
+
+ The FS90 R 360 defines a specific PWM interface and exactly how the PWN signal
+ controls the servo. There are many different manufacturers of the FS90 servo.
+ The pulse width required for setting the servo at 0 degrees MAX Clockwise (CW) or 180 degrees
+ MAX CounterClockWise (CCW) varies by manufacturer. The driver by default uses the pulse width timing as
+ (low)1000 - (high)2000 microseconds. The user of this example application can change these defaults
+ when first invoking the program.
+
+ If the servo does not rotate to the expected RPM,Example to rotate faster CW  reduce the -low
+  argument, to rotate CCW faster increase the -high argument. The -low -high change should be balanced or 90 degree will not properly align.
+ Meaning if you reduce the -low by 200, you should increase the -high by 200, or visa-versa.
+
+
+
+
+ https://www.pololu.com/product/2820
+
+
+
+Fs90r               Pi
+Grey/Brown          Ground
+Red                 5V
+Yellow              GPIO18  config.sys contains dtoverlay=pwm-2chan
+
+
+
+1. ./mvnw clean package
+2. cd target/distribution
+3. ./runFs90r.sh   args
+
+-h      help
+-c      channel   (default 2)   set the channel, depending on config.txt 1 2 3 4  
+-cw     clockwise S M F
+-ccw    counter-clockwise S M F
+-low    double pulse width for 0 degree microseconds
+-high   double pulse width for 180 degree microseconds
+-q      quit      servo will stop
+
+
+Application running, awaiting input of 0-180 degree
+./runFs90r.sh
+
+Application running  CCW, then awaiting input of 0-180 degree
+./runFs90r.sh 160
+
+
+
+Set output shaft Fast ClockWise, then enter 90 for stop
+./runFs90r.sh   -cw F     
+         90
+
+
+Set output shaft Slow CounterClockWise, then enter 0 for MAX soeed
+./runFs90r.sh   -ccw S     
+      0
+
+My Fs90r appears faster rotation wih these values for the -low and -high limmits
+./runFs90r.sh  -low 550 -high 2450