UniServ.cpp

00001 /* UniServ Servo Library
00002  * Copyright (c) 2010 Matt Parsons
00003  *
00004  * Permission is hereby granted, free of charge, to any person obtaining a copy
00005  * of this software and associated documentation files (the "Software"), to deal
00006  * in the Software without restriction, including without limitation the rights
00007  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008  * copies of the Software, and to permit persons to whom the Software is
00009  * furnished to do so, subject to the following conditions:
00010  *
00011  * The above copyright notice and this permission notice shall be included in
00012  * all copies or substantial portions of the Software.
00013  *
00014  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00020  * THE SOFTWARE.
00021  */
00022  
00023  #include "mbed.h"
00024  #include "UniServ.h"
00025  
00026     UniServ::UniServ(PinName pin) : ServPin(pin){
00027         Period=20000;
00028         Position=1500;
00029         ServMin=400;
00030         ServMax=2600;
00031     
00032       Pulse.attach_us( callback(this,&UniServ::SigStart), Period);
00033      }
00034  
00035     void UniServ::SigStart(){
00036         ServPin=1;
00037         PulseEnd.attach_us( callback( this, &UniServ::SigStop), Position);   
00038      }
00039  
00040     void UniServ::SigStop(){
00041         ServPin=0;
00042      }
00043  
00044     void UniServ::write_us(int PosIn){
00045         Position=PosIn;
00046         if(PosIn<ServMin){Position=ServMin;}
00047         if(PosIn>ServMax){Position=ServMax;}
00048      }
00049      
00050      int UniServ::read_us(){
00051         return Position;
00052      }
00053         
00054  
00055