FRC - Hackathon
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:
- 0:b8dcca3dc509
- Child:
- 1:8482eba4d652
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/RC_Servo.cpp Mon May 21 15:55:54 2018 +0000
@@ -0,0 +1,27 @@
+#include "RC_Servo.h"
+
+RC_Servo::RC_Servo(PinName PWM, int _extended) : _pwm(PWM)
+{
+ _pwm.period(0.02);
+ if (_extended) {
+ _pMin = 400;
+ _pMax = 2400;
+ } else {
+ _pMin = 1000;
+ _pMax = 2000;
+ }
+}
+
+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);
+}