IoTKitV3 / IoTKit

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Dependencies:   wifi-ism43362

Dependents:   DigitalOut DigitalOut

Servo/Servo.cpp@16:0a60a1530987, 2020-05-26 (annotated)

Committer:
marcel1691
Date:
Tue May 26 17:34:16 2020 +0000
Revision:
16:0a60a1530987
Parent:
14:b0a7f17c5a29 
Ohne BMP180 Wrapper

Who changed what in which revision?

UserRevisionLine numberNew contents of line
marcel1691 14:b0a7f17c5a29 1 /* mbed simple Servo controller
marcel1691 14:b0a7f17c5a29 2 * Copyright (c) 2019, marcel.bernet@ch-open.ch
marcel1691 14:b0a7f17c5a29 3 *
marcel1691 14:b0a7f17c5a29 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
marcel1691 14:b0a7f17c5a29 5 * of this software and associated documentation files (the "Software"), to deal
marcel1691 14:b0a7f17c5a29 6 * in the Software without restriction, including without limitation the rights
marcel1691 14:b0a7f17c5a29 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
marcel1691 14:b0a7f17c5a29 8 * copies of the Software, and to permit persons to whom the Software is
marcel1691 14:b0a7f17c5a29 9 * furnished to do so, subject to the following conditions:
marcel1691 14:b0a7f17c5a29 10 *
marcel1691 14:b0a7f17c5a29 11 * The above copyright notice and this permission notice shall be included in
marcel1691 14:b0a7f17c5a29 12 * all copies or substantial portions of the Software.
marcel1691 14:b0a7f17c5a29 13 *
marcel1691 14:b0a7f17c5a29 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
marcel1691 14:b0a7f17c5a29 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
marcel1691 14:b0a7f17c5a29 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
marcel1691 14:b0a7f17c5a29 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
marcel1691 14:b0a7f17c5a29 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
marcel1691 14:b0a7f17c5a29 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
marcel1691 14:b0a7f17c5a29 20 * THE SOFTWARE.
marcel1691 14:b0a7f17c5a29 21 */
marcel1691 14:b0a7f17c5a29 22
marcel1691 14:b0a7f17c5a29 23 #include "mbed.h"
marcel1691 14:b0a7f17c5a29 24 #include "Servo.h"
marcel1691 14:b0a7f17c5a29 25
marcel1691 14:b0a7f17c5a29 26
marcel1691 14:b0a7f17c5a29 27
marcel1691 14:b0a7f17c5a29 28 Servo::Servo(PinName pin) : _pwm(pin)
marcel1691 14:b0a7f17c5a29 29 {
marcel1691 14:b0a7f17c5a29 30 _pwm.period_ms(20);
marcel1691 14:b0a7f17c5a29 31 write(0.5);
marcel1691 14:b0a7f17c5a29 32 }
marcel1691 14:b0a7f17c5a29 33
marcel1691 14:b0a7f17c5a29 34 void Servo::write(float percent)
marcel1691 14:b0a7f17c5a29 35 {
marcel1691 14:b0a7f17c5a29 36 _p = percent;
marcel1691 14:b0a7f17c5a29 37 float p = percent * (SERVO_MAX-SERVO_MIN) + SERVO_MIN;
marcel1691 14:b0a7f17c5a29 38 p = (p < SERVO_MIN) ? SERVO_MIN : p;
marcel1691 14:b0a7f17c5a29 39 p = (p > SERVO_MAX) ? SERVO_MAX : p;
marcel1691 14:b0a7f17c5a29 40 _pwm.pulsewidth_us( (int) p );
marcel1691 14:b0a7f17c5a29 41 }
marcel1691 14:b0a7f17c5a29 42
marcel1691 14:b0a7f17c5a29 43 float Servo::read()
marcel1691 14:b0a7f17c5a29 44 {
marcel1691 14:b0a7f17c5a29 45 return _p;
marcel1691 14:b0a7f17c5a29 46 }
marcel1691 14:b0a7f17c5a29 47
marcel1691 14:b0a7f17c5a29 48 Servo& Servo::operator= (float percent)
marcel1691 14:b0a7f17c5a29 49 {
marcel1691 14:b0a7f17c5a29 50 write(percent);
marcel1691 14:b0a7f17c5a29 51 return *this;
marcel1691 14:b0a7f17c5a29 52 }
marcel1691 14:b0a7f17c5a29 53
marcel1691 14:b0a7f17c5a29 54 Servo& Servo::operator= (Servo& rhs)
marcel1691 14:b0a7f17c5a29 55 {
marcel1691 14:b0a7f17c5a29 56 write(rhs.read());
marcel1691 14:b0a7f17c5a29 57 return *this;
marcel1691 14:b0a7f17c5a29 58 }
marcel1691 14:b0a7f17c5a29 59
marcel1691 14:b0a7f17c5a29 60 Servo::operator float()
marcel1691 14:b0a7f17c5a29 61 {
marcel1691 14:b0a7f17c5a29 62 return read();
marcel1691 14:b0a7f17c5a29 63 }
marcel1691 14:b0a7f17c5a29 64
marcel1691 14:b0a7f17c5a29 65
marcel1691 14:b0a7f17c5a29 66