Onier / RC_Servo

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Dependencies:   SoftPWM

Fork of RC_Servo by FRC - Hackathon

RC_Servo.cpp

Committer:
haarkon
Date:
2018-05-21
Revision:
0:b8dcca3dc509
Child:
1:8482eba4d652

File content as of revision 0:b8dcca3dc509:

#include "RC_Servo.h"

RC_Servo::RC_Servo(PinName PWM, int _extended) : _pwm(PWM)
{
    _pwm.period(0.02);
    if (_extended) {
        _pMin = 400;
        _pMax = 2400;
    } else {
        _pMin = 1000;
        _pMax = 2000;
    }
}

void RC_Servo::write (float position)
{
    if ((position >= 0) && (position <= 1))
        _pwm.pulsewidth_us (_pMin + (int)(position * (_pMax - _pMin)));
}

/**
 * A short hand for write
 */
RC_Servo& RC_Servo::operator= (float position)
{
    write (position);
}