Onier / RC_Servo

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Dependencies:   SoftPWM

Fork of RC_Servo by FRC - Hackathon

RC_Servo.cpp@8:df674a9d9535, 2018-06-08 (annotated)

Committer:
samuelhadjes
Date:
Fri Jun 08 11:37:21 2018 +0000
Revision:
8:df674a9d9535
Parent:
7:014d36c33b73 
ayjdykdtkutdty; tamer tamer tmaer

Who changed what in which revision?

UserRevisionLine numberNew contents of line
haarkon 0:b8dcca3dc509 1 #include "RC_Servo.h"
haarkon 0:b8dcca3dc509 2
haarkon 6:cf65fc8b0de1 3 RC_Servo::RC_Servo(PinName PWM, int _extended) : _RCpwm(PWM)
haarkon 0:b8dcca3dc509 4 {
haarkon 0:b8dcca3dc509 5 if (_extended) {
haarkon 6:cf65fc8b0de1 6 _RCpMin = 400;
haarkon 6:cf65fc8b0de1 7 _RCpMax = 2400;
haarkon 0:b8dcca3dc509 8 } else {
haarkon 6:cf65fc8b0de1 9 _RCpMin = 1000;
haarkon 6:cf65fc8b0de1 10 _RCpMax = 2000;
haarkon 0:b8dcca3dc509 11 }
haarkon 0:b8dcca3dc509 12 }
haarkon 0:b8dcca3dc509 13
haarkon 6:cf65fc8b0de1 14 int RC_Servo::setLimits (int Tmin, int Tmax)
haarkon 6:cf65fc8b0de1 15 {
haarkon 6:cf65fc8b0de1 16 if ((Tmin > 400) && (Tmin < Tmax)) _RCpMin = Tmin;
haarkon 1:8482eba4d652 17 else return Tmin;
haarkon 6:cf65fc8b0de1 18 if ((Tmax < 2400) && (Tmin < Tmax)) _RCpMax = Tmax;
haarkon 1:8482eba4d652 19 else return Tmax;
haarkon 1:8482eba4d652 20 return 0;
haarkon 1:8482eba4d652 21 }
haarkon 1:8482eba4d652 22
haarkon 7:014d36c33b73 23 void RC_Servo::write (double position)
haarkon 0:b8dcca3dc509 24 {
haarkon 0:b8dcca3dc509 25 if ((position >= 0) && (position <= 1))
haarkon 7:014d36c33b73 26 _RCpwm.pulsewidth_us (_RCpMin + (long)((_RCpMax - _RCpMin) * position));
haarkon 0:b8dcca3dc509 27 }
haarkon 0:b8dcca3dc509 28
samuelhadjes 8:df674a9d9535 29
haarkon 7:014d36c33b73 30 RC_Servo& RC_Servo::operator= (double position)
haarkon 0:b8dcca3dc509 31 {
haarkon 0:b8dcca3dc509 32 write (position);
haarkon 1:8482eba4d652 33 return *this;
haarkon 0:b8dcca3dc509 34 }