Diff: Servo.cpp

Revision:

3:b787aa49b900

Child:

4:b3a93554fedf

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.cpp	Mon Sep 19 17:06:45 2016 +0000
@@ -0,0 +1,80 @@
+ #include "mbed.h"
+ #include "Servo.h"
+ // gloabl varevlbe used only inseide the class 
+int value_current;
+int value_target;
+float value_target_raw;
+Ticker tick;
+SLCD slcd;
+int n;
+int counter;
+char buffer[50];
+
+Servo::Servo(PinName analog_input,PinName Positive, PinName Negative,PinName Speed):
+     _feedback(analog_input),_motor(Positive,Negative,Speed) {
+      
+}   
+     /* input is angle intger from 0 - 180 
+     *  
+     */
+void Servo::set(int degree) {
+   if(degree > 90){
+   value_target = degree;   // set the value target as the input of the function
+   tick.attach(this,&Servo::move,0.001); // set the ticker to call move every 0.001 sec
+}
+  else{
+   value_target = degree-15;   // set the value target as the input of the function
+   tick.attach(this,&Servo::move,0.001);   
+      } 
+  
+       }//End of Move
+   
+void Servo::move() {
+
+value_current = (int)((int)(_feedback*1000)*0.30769230769);
+
+if(value_target > value_current){ 
+        _motor.Direction(LEFT);
+      //  _motor.Speed(10);
+        //wait(0.1);
+        n = sprintf (buffer, "%d", value_current);
+        slcd.clear();
+        slcd.Home();  
+        slcd.printf(buffer); 
+       }
+else if(value_target < value_current){
+        _motor.Direction(RIGHT);
+      //  _motor.Speed(counter);
+        n = sprintf (buffer, "%d", value_current);
+        slcd.clear();
+        slcd.Home();  
+        slcd.printf(buffer);
+        }     
+else if((value_target == value_current))
+ {
+        tick.detach();
+        _motor.Stop();
+        n = sprintf (buffer, "%d", value_current);
+        slcd.clear();
+        slcd.Home();  
+        slcd.printf(buffer);
+       }
+
+      
+
+      }
+      
+      
+   
+void Servo::check() {
+
+  value_current = (int)((int)(_feedback*1000)*0.30769230769);
+  n = sprintf (buffer, "%d", value_current);
+  slcd.clear();
+  slcd.Home();  
+  slcd.printf(buffer);
+   
+      }
+            
+      
+      
\ No newline at end of file