Diff: RC_Servo.cpp

Revision:

7:014d36c33b73

Parent:

6:cf65fc8b0de1

Child:

8:df674a9d9535

--- a/RC_Servo.cpp	Tue Jun 05 07:25:09 2018 +0000
+++ b/RC_Servo.cpp	Tue Jun 05 12:22:17 2018 +0000
@@ -2,7 +2,6 @@
 
 RC_Servo::RC_Servo(PinName PWM, int _extended) : _RCpwm(PWM)
 {
-    _tickRC.attach(callback(this,&RC_Servo::generatePwm),0.02);
     if (_extended) {
         _RCpMin = 400;
         _RCpMax = 2400;
@@ -12,24 +11,6 @@
     }
 }
 
-void RC_Servo::generatePwm (void)
-{
-
-    static int  output = 0;
-    static long pulseWidthTime = 0;
-
-    if (pulseWidthTime == 0) pulseWidthTime = _RCpMin;
-    _tickRC.detach();
-    output = !output;
-    _RCpwm = output;
-
-    if (output == 1)    _tickRC.attach (callback(this,&RC_Servo::generatePwm), pulseWidthTime);
-    else {
-        _tickRC.attach (callback(this,&RC_Servo::generatePwm), 20000-pulseWidthTime);
-        pulseWidthTime = RCdelay;
-    }
-}
-
 int RC_Servo::setLimits (int Tmin, int Tmax)
 {
     if ((Tmin > 400) && (Tmin < Tmax))  _RCpMin = Tmin;
@@ -39,13 +20,13 @@
     return 0;
 }
 
-void RC_Servo::write (float position)
+void RC_Servo::write (double position)
 {
     if ((position >= 0) && (position <= 1))
-        RCdelay = _RCpMin + (long)((_RCpMax - _RCpMin) * position);
+        _RCpwm.pulsewidth_us (_RCpMin + (long)((_RCpMax - _RCpMin) * position));
 }
 
-RC_Servo& RC_Servo::operator= (float position)
+RC_Servo& RC_Servo::operator= (double position)
 {
     write (position);
     return *this;