FTE-denshi / Mbed 2 deprecated FTE-06

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Dependencies:   mbed FATFileSystem

Fork of FTE-06 by Tetsushi Amano

Servo/Servo.cpp@23:9be034083282, 2017-08-14 (annotated)

Committer:
mizuki_akaike
Date:
Mon Aug 14 04:56:52 2017 +0000
Revision:
23:9be034083282
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
mizuki_akaike 23:9be034083282 1 /* mbed R/C Servo Library
mizuki_akaike 23:9be034083282 2 *
mizuki_akaike 23:9be034083282 3 * Copyright (c) 2007-2010 sford, cstyles
mizuki_akaike 23:9be034083282 4 *
mizuki_akaike 23:9be034083282 5 * Permission is hereby granted, free of charge, to any person obtaining a copy
mizuki_akaike 23:9be034083282 6 * of this software and associated documentation files (the "Software"), to deal
mizuki_akaike 23:9be034083282 7 * in the Software without restriction, including without limitation the rights
mizuki_akaike 23:9be034083282 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
mizuki_akaike 23:9be034083282 9 * copies of the Software, and to permit persons to whom the Software is
mizuki_akaike 23:9be034083282 10 * furnished to do so, subject to the following conditions:
mizuki_akaike 23:9be034083282 11 *
mizuki_akaike 23:9be034083282 12 * The above copyright notice and this permission notice shall be included in
mizuki_akaike 23:9be034083282 13 * all copies or substantial portions of the Software.
mizuki_akaike 23:9be034083282 14 *
mizuki_akaike 23:9be034083282 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
mizuki_akaike 23:9be034083282 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
mizuki_akaike 23:9be034083282 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
mizuki_akaike 23:9be034083282 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
mizuki_akaike 23:9be034083282 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
mizuki_akaike 23:9be034083282 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
mizuki_akaike 23:9be034083282 21 * THE SOFTWARE.
mizuki_akaike 23:9be034083282 22 */
mizuki_akaike 23:9be034083282 23
mizuki_akaike 23:9be034083282 24 #include "Servo.h"
mizuki_akaike 23:9be034083282 25 #include "mbed.h"
mizuki_akaike 23:9be034083282 26
mizuki_akaike 23:9be034083282 27 static float clamp(float value, float min, float max) {
mizuki_akaike 23:9be034083282 28 if(value < min) {
mizuki_akaike 23:9be034083282 29 return min;
mizuki_akaike 23:9be034083282 30 } else if(value > max) {
mizuki_akaike 23:9be034083282 31 return max;
mizuki_akaike 23:9be034083282 32 } else {
mizuki_akaike 23:9be034083282 33 return value;
mizuki_akaike 23:9be034083282 34 }
mizuki_akaike 23:9be034083282 35 }
mizuki_akaike 23:9be034083282 36
mizuki_akaike 23:9be034083282 37 Servo::Servo(PinName pin) : _pwm(pin) {
mizuki_akaike 23:9be034083282 38 calibrate();
mizuki_akaike 23:9be034083282 39 write(0.5);
mizuki_akaike 23:9be034083282 40 }
mizuki_akaike 23:9be034083282 41
mizuki_akaike 23:9be034083282 42 void Servo::write(float percent) {
mizuki_akaike 23:9be034083282 43 float offset = _range * 2.0 * (percent - 0.5);
mizuki_akaike 23:9be034083282 44 _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range));
mizuki_akaike 23:9be034083282 45 _p = clamp(percent, 0.0, 1.0);
mizuki_akaike 23:9be034083282 46 }
mizuki_akaike 23:9be034083282 47
mizuki_akaike 23:9be034083282 48 void Servo::position(float degrees) {
mizuki_akaike 23:9be034083282 49 float offset = _range * (degrees / _degrees);
mizuki_akaike 23:9be034083282 50 _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range));
mizuki_akaike 23:9be034083282 51 }
mizuki_akaike 23:9be034083282 52
mizuki_akaike 23:9be034083282 53 void Servo::calibrate(float range, float degrees) {
mizuki_akaike 23:9be034083282 54 _range = range;
mizuki_akaike 23:9be034083282 55 _degrees = degrees;
mizuki_akaike 23:9be034083282 56 }
mizuki_akaike 23:9be034083282 57
mizuki_akaike 23:9be034083282 58 float Servo::read() {
mizuki_akaike 23:9be034083282 59 return _p;
mizuki_akaike 23:9be034083282 60 }
mizuki_akaike 23:9be034083282 61
mizuki_akaike 23:9be034083282 62 Servo& Servo::operator= (float percent) {
mizuki_akaike 23:9be034083282 63 write(percent);
mizuki_akaike 23:9be034083282 64 return *this;
mizuki_akaike 23:9be034083282 65 }
mizuki_akaike 23:9be034083282 66
mizuki_akaike 23:9be034083282 67 Servo& Servo::operator= (Servo& rhs) {
mizuki_akaike 23:9be034083282 68 write(rhs.read());
mizuki_akaike 23:9be034083282 69 return *this;
mizuki_akaike 23:9be034083282 70 }
mizuki_akaike 23:9be034083282 71
mizuki_akaike 23:9be034083282 72 Servo::operator float() {
mizuki_akaike 23:9be034083282 73 return read();
mizuki_akaike 23:9be034083282 74 }