NerfUS / Servomotor

Servomotor

Dependents:   ServomotorTests NerfUSTarget

source/Servomotor.cpp@7:a5b6e6d9ad3d, 2017-04-11 (annotated)

Committer:
GaiSensei
Date:
Tue Apr 11 03:48:35 2017 +0000
Revision:
7:a5b6e6d9ad3d
Parent:
6:8d8268e5a561
Child:
8:e42a3a06e072
Calibrate servomotors

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) :
GaiSensei 7:a5b6e6d9ad3d 4 pwm_out(pwm_out),
GaiSensei 7:a5b6e6d9ad3d 5 up_angle(90)
dupm2216 0:46b4e7d76586 6 {
dupm2216 0:46b4e7d76586 7
dupm2216 0:46b4e7d76586 8 }
dupm2216 0:46b4e7d76586 9
GaiSensei 5:003d3d682097 10 //Angle 0 degree = duty cycle 500 ns
GaiSensei 5:003d3d682097 11 //Angle 90 degree = duty cycle 1500 ns
GaiSensei 5:003d3d682097 12 //Angle 180 degree = duty cycle 2500 ns
dupm2216 0:46b4e7d76586 13 void Servomotor::set_angle(const float angle_degree)
dupm2216 0:46b4e7d76586 14 {
GaiSensei 6:8d8268e5a561 15 const float duty_cycle_us = (angle_degree / 180.0) * 2000 + 500;
GaiSensei 6:8d8268e5a561 16 pwm_out.pulsewidth_us(duty_cycle_us);
dupm2216 0:46b4e7d76586 17 }
dupm2216 0:46b4e7d76586 18
dupm2216 0:46b4e7d76586 19 void Servomotor::set_position_up()
dupm2216 0:46b4e7d76586 20 {
GaiSensei 7:a5b6e6d9ad3d 21 set_angle(up_angle);
dupm2216 0:46b4e7d76586 22 }
dupm2216 0:46b4e7d76586 23
dupm2216 0:46b4e7d76586 24 void Servomotor::set_position_down()
dupm2216 0:46b4e7d76586 25 {
GaiSensei 7:a5b6e6d9ad3d 26 set_angle(up_angle - 75);
GaiSensei 7:a5b6e6d9ad3d 27 }