Pulse Width Modulation RC Servomotor Library compatible with classic and extended models. Models limit are customizable
Dependents: FRC_2018 0hackton_08_06_18 0hackton_08_06_18_publish Kenya_2019 ... more
Diff: RC_Servo.cpp
- Revision:
- 1:8482eba4d652
- Parent:
- 0:b8dcca3dc509
- Child:
- 6:cf65fc8b0de1
--- a/RC_Servo.cpp Mon May 21 15:55:54 2018 +0000 +++ b/RC_Servo.cpp Mon May 21 16:07:20 2018 +0000 @@ -12,16 +12,22 @@ } } +int RC_Servo::setLimits (int Tmin, int Tmax) { + if ((Tmin > 400) && (Tmin < Tmax)) _pMin = Tmin; + else return Tmin; + if ((Tmax < 2400) && (Tmin < Tmax)) _pMax = Tmax; + else return Tmax; + return 0; +} + void RC_Servo::write (float position) { if ((position >= 0) && (position <= 1)) _pwm.pulsewidth_us (_pMin + (int)(position * (_pMax - _pMin))); } -/** - * A short hand for write - */ RC_Servo& RC_Servo::operator= (float position) { write (position); + return *this; }