NerfUS / Servomotor

Servomotor

Dependents:   ServomotorTests NerfUSTarget

Servomotor.cpp@0:46b4e7d76586, 2017-02-25 (annotated)

Committer:
dupm2216
Date:
Sat Feb 25 22:57:27 2017 +0000
Revision:
0:46b4e7d76586
Initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dupm2216 0:46b4e7d76586 1 #include "Servomotor.hpp"
dupm2216 0:46b4e7d76586 2
dupm2216 0:46b4e7d76586 3 Servomotor::Servomotor(PwmOutInterface &pwm_out) :
dupm2216 0:46b4e7d76586 4 pwm_out(pwm_out)
dupm2216 0:46b4e7d76586 5 {
dupm2216 0:46b4e7d76586 6
dupm2216 0:46b4e7d76586 7 }
dupm2216 0:46b4e7d76586 8
dupm2216 0:46b4e7d76586 9 //Angle 0 degree = duty cycle 1 ms
dupm2216 0:46b4e7d76586 10 //Angle 90 degree = duty cycle 1.5 ms
dupm2216 0:46b4e7d76586 11 //Angle 180 degree = duty cycle 2 ms
dupm2216 0:46b4e7d76586 12 void Servomotor::set_angle(const float angle_degree)
dupm2216 0:46b4e7d76586 13 {
dupm2216 0:46b4e7d76586 14 const float duty_cycle_ms = angle_degree / 180.0 + 1.0;
dupm2216 0:46b4e7d76586 15 pwm_out.pulsewidth_ms(duty_cycle_ms);
dupm2216 0:46b4e7d76586 16 }
dupm2216 0:46b4e7d76586 17
dupm2216 0:46b4e7d76586 18 void Servomotor::set_position_up()
dupm2216 0:46b4e7d76586 19 {
dupm2216 0:46b4e7d76586 20 set_angle(0);
dupm2216 0:46b4e7d76586 21 }
dupm2216 0:46b4e7d76586 22
dupm2216 0:46b4e7d76586 23 void Servomotor::set_position_down()
dupm2216 0:46b4e7d76586 24 {
dupm2216 0:46b4e7d76586 25 set_angle(90);
dupm2216 0:46b4e7d76586 26 }