Weston and Ivan
Interface with Parallax's high speed continuous rotation servo (Activity Bot)
Dependencies: Tach
Diff: ContinuousServo.cpp
- Revision:
- 0:d6371727ce0c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ContinuousServo.cpp Fri Mar 02 16:51:35 2018 +0000
@@ -0,0 +1,20 @@
+#include "ContinuousServo.h"
+
+ //64 counts per rev
+
+ContinuousServo::ContinuousServo(PinName output): servo_(output){
+ servo_.period_ms(50);
+}
+
+void ContinuousServo::speed(float val){
+ //convert val from -1,1 to 1.3 to 1.7
+ if(val<-1.0)
+ val = -1.0;
+ if(val>1.0)
+ val = 1.0;
+ servo_.pulsewidth_us((int)(1500+200*val));
+}
+
+void ContinuousServo::stop(){
+ servo_.pulsewidth_us(0);
+}
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