NerfUS / Servomotor

Servomotor

Dependents:   ServomotorTests NerfUSTarget

source/Servomotor.cpp

Committer:
GaiSensei
Date:
2017-04-09
Revision:
5:003d3d682097
Parent:
1:7e200831ba73
Child:
6:8d8268e5a561

File content as of revision 5:003d3d682097:

#include "Servomotor.hpp"

Servomotor::Servomotor(PwmOutInterface &pwm_out) : 
    pwm_out(pwm_out)
{
    
}

//Angle 0 degree = duty cycle 500 ns
//Angle 90 degree = duty cycle 1500 ns
//Angle 180 degree = duty cycle 2500 ns
void Servomotor::set_angle(const float angle_degree)
{
    const float duty_cycle_ns = (angle_degree / 180.0) * 2000 + 500;
    pwm_out.pulsewidth_ns(duty_cyclduty_cycle_ns);
}

void Servomotor::set_position_up()
{
    set_angle(0);
}

void Servomotor::set_position_down()
{
    set_angle(90);
}