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

RC_Servo.cpp@7:014d36c33b73, 2018-06-05 (annotated)

Committer:
haarkon
Date:
Tue Jun 05 12:22:17 2018 +0000
Revision:
7:014d36c33b73
Parent:
6:cf65fc8b0de1 
Tested library using soft PWM

Who changed what in which revision?

UserRevisionLine numberNew contents of line
haarkon 0:b8dcca3dc509 1 #include "RC_Servo.h"
haarkon 0:b8dcca3dc509 2
haarkon 6:cf65fc8b0de1 3 RC_Servo::RC_Servo(PinName PWM, int _extended) : _RCpwm(PWM)
haarkon 0:b8dcca3dc509 4 {
haarkon 0:b8dcca3dc509 5 if (_extended) {
haarkon 6:cf65fc8b0de1 6 _RCpMin = 400;
haarkon 6:cf65fc8b0de1 7 _RCpMax = 2400;
haarkon 0:b8dcca3dc509 8 } else {
haarkon 6:cf65fc8b0de1 9 _RCpMin = 1000;
haarkon 6:cf65fc8b0de1 10 _RCpMax = 2000;
haarkon 0:b8dcca3dc509 11 }
haarkon 0:b8dcca3dc509 12 }
haarkon 0:b8dcca3dc509 13
haarkon 6:cf65fc8b0de1 14 int RC_Servo::setLimits (int Tmin, int Tmax)
haarkon 6:cf65fc8b0de1 15 {
haarkon 6:cf65fc8b0de1 16 if ((Tmin > 400) && (Tmin < Tmax)) _RCpMin = Tmin;
haarkon 1:8482eba4d652 17 else return Tmin;
haarkon 6:cf65fc8b0de1 18 if ((Tmax < 2400) && (Tmin < Tmax)) _RCpMax = Tmax;
haarkon 1:8482eba4d652 19 else return Tmax;
haarkon 1:8482eba4d652 20 return 0;
haarkon 1:8482eba4d652 21 }
haarkon 1:8482eba4d652 22
haarkon 7:014d36c33b73 23 void RC_Servo::write (double position)
haarkon 0:b8dcca3dc509 24 {
haarkon 0:b8dcca3dc509 25 if ((position >= 0) && (position <= 1))
haarkon 7:014d36c33b73 26 _RCpwm.pulsewidth_us (_RCpMin + (long)((_RCpMax - _RCpMin) * position));
haarkon 0:b8dcca3dc509 27 }
haarkon 0:b8dcca3dc509 28
haarkon 7:014d36c33b73 29 RC_Servo& RC_Servo::operator= (double position)
haarkon 0:b8dcca3dc509 30 {
haarkon 0:b8dcca3dc509 31 write (position);
haarkon 1:8482eba4d652 32 return *this;
haarkon 0:b8dcca3dc509 33 }