Diff: Servo.h

Revision:

0:7ba85d855519

Child:

1:ed0ec5b8516c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.h	Wed Jan 18 22:09:15 2017 +0000
@@ -0,0 +1,75 @@
+#ifndef SERVO_H_
+#define SERVO_H_
+#include "mbed.h"
+
+/**
+* @author Matsumoto Gaku
+* @note サーボモーターを回すライブラリです。0~180度のやつを対象としています。
+*/
+class   Servo{
+    
+    public:
+        /**
+        *   @param  _pin    pin's name
+        *   @param  _maxPulse   Max pulse width in seconds
+        *   @param  _minPulse   min pulse width in seconds
+        */
+        Servo(PinName pin, double maxPulse = 0.00245f, double minPulse = 0.00065f);
+        
+        /**
+        *   @bref  rotate servo motor's horn set angle 
+        *   @param  _angle[double]  Servo position in degree
+        */
+        void write(double angle);
+        
+        /**
+        *   @bref  read current servo position
+        *   @param  [double] Return angle in degree
+        */
+        double read();
+        
+        /**
+        *   @bref  Set pulse width in max and min
+        *   @param  maxPulse [double]   Max pulse width in seconds
+        *   @param  minPulse [double]   min pulse width in seconds
+        */
+        void setRange(double maxPulse, double minPulse);
+        
+        /**
+        *   @bref  Set pulse width in zero [degree]
+        *   @param  zeroPulse [double]  pulse width in zero position
+        */
+        void setZeroPulse(double zeroPulse = 0.00160f);
+        
+        /**
+        *   @bref  Set never over angle
+        *   @param  maxAngle [double]   max servo position
+        *   @param  minAngle [double]   min servo position
+        *   @note   もし90,0と設定すると,絶対に0°から90°の範囲から出なくなります
+        */
+        void setAngleRange(double maxAngle = 90.0f, double minAngle = -90.0f);
+        
+        /**
+        *   @bref  use '=' operater, you can write()
+        *   @param  dValue [double]  angle in degree
+        */
+        Servo& operator= (double dValue);
+       
+        /**
+        *   @bref  Return currnet angle, so the same of read()
+        */
+        double operator()(void);
+       
+    private:
+        
+        PwmOut _pwm;
+        double currentAngle;
+        double _maxPulse;
+        double _minPulse;
+        PinName _pinName;
+        double _maxAngle;
+        double _minAngle;
+        double _zeroPulse;
+};
+
+#endif
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