Diff: Servo/Servo.cpp

Revision:

14:b0a7f17c5a29

diff -r 4654914db907 -r b0a7f17c5a29 Servo/Servo.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo/Servo.cpp	Sat May 25 15:53:53 2019 +0000
@@ -0,0 +1,66 @@
+/* mbed simple Servo controller
+ * Copyright (c) 2019, marcel.bernet@ch-open.ch
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "mbed.h"
+#include "Servo.h"
+
+
+
+Servo::Servo(PinName pin) : _pwm(pin)
+{
+    _pwm.period_ms(20);
+    write(0.5);
+}
+
+void Servo::write(float percent)
+{
+    _p = percent;
+    float p = percent * (SERVO_MAX-SERVO_MIN) + SERVO_MIN;
+    p = (p < SERVO_MIN) ? SERVO_MIN : p;
+    p = (p > SERVO_MAX) ? SERVO_MAX : p;
+    _pwm.pulsewidth_us( (int) p );
+}
+
+float Servo::read()
+{
+    return _p;
+}
+
+Servo& Servo::operator= (float percent)
+{
+    write(percent);
+    return *this;
+}
+
+Servo& Servo::operator= (Servo& rhs)
+{
+    write(rhs.read());
+    return *this;
+}
+
+Servo::operator float()
+{
+    return read();
+}
+
+
+