NerfUS / Servomotor

Servomotor

Dependents:   ServomotorTests NerfUSTarget

Diff: source/Servomotor.cpp

Revision:
5:003d3d682097
Parent:
1:7e200831ba73
Child:
6:8d8268e5a561
diff -r c1a2dcbd1c4f -r 003d3d682097 source/Servomotor.cpp
--- a/source/Servomotor.cpp	Wed Mar 08 16:56:02 2017 +0000
+++ b/source/Servomotor.cpp	Sun Apr 09 23:11:11 2017 +0000
@@ -6,13 +6,13 @@
     
 }
 
-//Angle 0 degree = duty cycle 1 ms
-//Angle 90 degree = duty cycle 1.5 ms
-//Angle 180 degree = duty cycle 2 ms
+//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_ms = angle_degree / 180.0 + 1.0;
-    pwm_out.pulsewidth_ms(duty_cycle_ms);
+    const float duty_cycle_ns = (angle_degree / 180.0) * 2000 + 500;
+    pwm_out.pulsewidth_ns(duty_cyclduty_cycle_ns);
 }
 
 void Servomotor::set_position_up()