NerfUS / Servomotor

Servomotor

Dependents:   ServomotorTests NerfUSTarget

Servomotor.cpp

Committer:
dupm2216
Date:
2017-02-25
Revision:
0:46b4e7d76586

File content as of revision 0:46b4e7d76586:

#include "Servomotor.hpp"

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

//Angle 0 degree = duty cycle 1 ms
//Angle 90 degree = duty cycle 1.5 ms
//Angle 180 degree = duty cycle 2 ms
void Servomotor::set_angle(const float angle_degree)
{
    const float duty_cycle_ms = angle_degree / 180.0 + 1.0;
    pwm_out.pulsewidth_ms(duty_cycle_ms);
}

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

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