Dependencies: mbed
Diff: nucleo_servo.cpp
- Revision:
- 0:d3dbe632b1a9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/nucleo_servo.cpp Mon Oct 31 09:57:07 2016 +0000
@@ -0,0 +1,30 @@
+#include "mbed.h"
+#include "nucleo_servo.h"
+
+Servo::Servo(PinName pin){
+ servoPWM = new PwmOut(pin);
+ servoPWM->period_ms(20); //Do not change ;)
+ servoPWM->pulsewidth_us(600);
+ degrees = 0;
+}
+Servo::~Servo(){
+ delete servoPWM;
+}
+
+void Servo::set_position(float deg){
+ degrees = deg;
+ if(degrees > 180)degrees = 180;
+ if(degrees < 0)degrees = 0;
+ int pw_us = 640 + (degrees / 180 * 1900);
+ servoPWM->pulsewidth_us(pw_us);
+}
+
+void Servo::turn_left(float deg){
+ degrees -= deg;
+ set_position(degrees);
+}
+
+void Servo::turn_right(float deg){
+ degrees += deg;
+ set_position(degrees);
+}