FRC - Hackathon / RC_Servo

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

Files at this revision

API Documentation at this revision

Revision 7:014d36c33b73, committed 2018-06-05

Comitter:
haarkon
Date:
Tue Jun 05 12:22:17 2018 +0000
Parent:
6:cf65fc8b0de1
Commit message:
Tested library using soft PWM

Changed in this revision

RC_Servo.cpp Show annotated file Show diff for this revision Revisions of this file
RC_Servo.h Show annotated file Show diff for this revision Revisions of this file
SoftPWM.lib Show annotated file Show diff for this revision Revisions of this file 
--- a/RC_Servo.cpp	Tue Jun 05 07:25:09 2018 +0000
+++ b/RC_Servo.cpp	Tue Jun 05 12:22:17 2018 +0000
@@ -2,7 +2,6 @@
 
 RC_Servo::RC_Servo(PinName PWM, int _extended) : _RCpwm(PWM)
 {
-    _tickRC.attach(callback(this,&RC_Servo::generatePwm),0.02);
     if (_extended) {
         _RCpMin = 400;
         _RCpMax = 2400;
@@ -12,24 +11,6 @@
     }
 }
 
-void RC_Servo::generatePwm (void)
-{
-
-    static int  output = 0;
-    static long pulseWidthTime = 0;
-
-    if (pulseWidthTime == 0) pulseWidthTime = _RCpMin;
-    _tickRC.detach();
-    output = !output;
-    _RCpwm = output;
-
-    if (output == 1)    _tickRC.attach (callback(this,&RC_Servo::generatePwm), pulseWidthTime);
-    else {
-        _tickRC.attach (callback(this,&RC_Servo::generatePwm), 20000-pulseWidthTime);
-        pulseWidthTime = RCdelay;
-    }
-}
-
 int RC_Servo::setLimits (int Tmin, int Tmax)
 {
     if ((Tmin > 400) && (Tmin < Tmax))  _RCpMin = Tmin;
@@ -39,13 +20,13 @@
     return 0;
 }
 
-void RC_Servo::write (float position)
+void RC_Servo::write (double position)
 {
     if ((position >= 0) && (position <= 1))
-        RCdelay = _RCpMin + (long)((_RCpMax - _RCpMin) * position);
+        _RCpwm.pulsewidth_us (_RCpMin + (long)((_RCpMax - _RCpMin) * position));
 }
 
-RC_Servo& RC_Servo::operator= (float position)
+RC_Servo& RC_Servo::operator= (double position)
 {
     write (position);
     return *this;

--- a/RC_Servo.h	Tue Jun 05 07:25:09 2018 +0000
+++ b/RC_Servo.h	Tue Jun 05 12:22:17 2018 +0000
@@ -39,6 +39,7 @@
  * Includes : Mbed Library
  */
 #include "mbed.h"
+#include "SoftPWM.h"
 
 /**
  * RC_Servo
@@ -51,11 +52,6 @@
 public :
 
     /**
-     * Global Variable that define pulsewidth in microsecond
-     */
-    long RCdelay; 
-
-    /**
      * Constructor of a RC Servo (analog).
      *
      * @param PWM (PinName) : is the Mbed pin used to generate the PWM signal
@@ -77,21 +73,18 @@
      *
      * @param position : float number between 0 and 1 (0 = Min, 1 = Max)
      */
-    void write (float position);
+    void write (double position);
 
     /**
      * A short hand for write
      */
-    RC_Servo& operator= (float position);
+    RC_Servo& operator= (double position);
 
 private :
     int         _RCpMin, _RCpMax;
-    Ticker      _tickRC;
-    
-    void generatePwm (void);
+    SoftPWM     _RCpwm;
 
 protected :
-    DigitalOut  _RCpwm ;
 
 };
 #endif //GP2A_H
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SoftPWM.lib	Tue Jun 05 12:22:17 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/FRC-Hackathon/code/SoftPWM/#9aba3dc9cd97