CORE / Mbed 2 deprecated GeminiQUEST_ptarmigan

ロケット用プログラム

Dependencies:   mbed

Servo/Servo.cpp@0:d58274531d38, 2019-09-11 (annotated)

Committer:
ishiyamayuto
Date:
Wed Sep 11 06:37:20 2019 +0000
Revision:
0:d58274531d38
BMP180,MPU6050

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ishiyamayuto 0:d58274531d38 1 /* mbed R/C Servo Library
ishiyamayuto 0:d58274531d38 2 *
ishiyamayuto 0:d58274531d38 3 * Copyright (c) 2007-2010 sford, cstyles
ishiyamayuto 0:d58274531d38 4 *
ishiyamayuto 0:d58274531d38 5 * Permission is hereby granted, free of charge, to any person obtaining a copy
ishiyamayuto 0:d58274531d38 6 * of this software and associated documentation files (the "Software"), to deal
ishiyamayuto 0:d58274531d38 7 * in the Software without restriction, including without limitation the rights
ishiyamayuto 0:d58274531d38 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
ishiyamayuto 0:d58274531d38 9 * copies of the Software, and to permit persons to whom the Software is
ishiyamayuto 0:d58274531d38 10 * furnished to do so, subject to the following conditions:
ishiyamayuto 0:d58274531d38 11 *
ishiyamayuto 0:d58274531d38 12 * The above copyright notice and this permission notice shall be included in
ishiyamayuto 0:d58274531d38 13 * all copies or substantial portions of the Software.
ishiyamayuto 0:d58274531d38 14 *
ishiyamayuto 0:d58274531d38 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
ishiyamayuto 0:d58274531d38 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
ishiyamayuto 0:d58274531d38 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
ishiyamayuto 0:d58274531d38 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
ishiyamayuto 0:d58274531d38 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
ishiyamayuto 0:d58274531d38 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
ishiyamayuto 0:d58274531d38 21 * THE SOFTWARE.
ishiyamayuto 0:d58274531d38 22 */
ishiyamayuto 0:d58274531d38 23
ishiyamayuto 0:d58274531d38 24 #include "Servo.h"
ishiyamayuto 0:d58274531d38 25 #include "mbed.h"
ishiyamayuto 0:d58274531d38 26
ishiyamayuto 0:d58274531d38 27 static float clamp(float value, float min, float max) {
ishiyamayuto 0:d58274531d38 28 if(value < min) {
ishiyamayuto 0:d58274531d38 29 return min;
ishiyamayuto 0:d58274531d38 30 } else if(value > max) {
ishiyamayuto 0:d58274531d38 31 return max;
ishiyamayuto 0:d58274531d38 32 } else {
ishiyamayuto 0:d58274531d38 33 return value;
ishiyamayuto 0:d58274531d38 34 }
ishiyamayuto 0:d58274531d38 35 }
ishiyamayuto 0:d58274531d38 36
ishiyamayuto 0:d58274531d38 37 Servo::Servo(PinName pin) : _pwm(pin) {
ishiyamayuto 0:d58274531d38 38 calibrate();
ishiyamayuto 0:d58274531d38 39 write(0.5);
ishiyamayuto 0:d58274531d38 40 }
ishiyamayuto 0:d58274531d38 41
ishiyamayuto 0:d58274531d38 42 void Servo::write(float percent) {
ishiyamayuto 0:d58274531d38 43 float offset = _range * 2.0 * (percent - 0.5);
ishiyamayuto 0:d58274531d38 44 _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range));
ishiyamayuto 0:d58274531d38 45 _p = clamp(percent, 0.0, 1.0);
ishiyamayuto 0:d58274531d38 46 }
ishiyamayuto 0:d58274531d38 47
ishiyamayuto 0:d58274531d38 48 void Servo::position(float degrees) {
ishiyamayuto 0:d58274531d38 49 float offset = _range * (degrees / _degrees);
ishiyamayuto 0:d58274531d38 50 _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range));
ishiyamayuto 0:d58274531d38 51 }
ishiyamayuto 0:d58274531d38 52
ishiyamayuto 0:d58274531d38 53 void Servo::calibrate(float range, float degrees) {
ishiyamayuto 0:d58274531d38 54 _range = range;
ishiyamayuto 0:d58274531d38 55 _degrees = degrees;
ishiyamayuto 0:d58274531d38 56 }
ishiyamayuto 0:d58274531d38 57
ishiyamayuto 0:d58274531d38 58 float Servo::read() {
ishiyamayuto 0:d58274531d38 59 return _p;
ishiyamayuto 0:d58274531d38 60 }
ishiyamayuto 0:d58274531d38 61
ishiyamayuto 0:d58274531d38 62 Servo& Servo::operator= (float percent) {
ishiyamayuto 0:d58274531d38 63 write(percent);
ishiyamayuto 0:d58274531d38 64 return *this;
ishiyamayuto 0:d58274531d38 65 }
ishiyamayuto 0:d58274531d38 66
ishiyamayuto 0:d58274531d38 67 Servo& Servo::operator= (Servo& rhs) {
ishiyamayuto 0:d58274531d38 68 write(rhs.read());
ishiyamayuto 0:d58274531d38 69 return *this;
ishiyamayuto 0:d58274531d38 70 }
ishiyamayuto 0:d58274531d38 71
ishiyamayuto 0:d58274531d38 72 Servo::operator float() {
ishiyamayuto 0:d58274531d38 73 return read();
ishiyamayuto 0:d58274531d38 74 }