Weston and Ivan / ContinuousServo

Interface with Parallax's high speed continuous rotation servo (Activity Bot)

Dependencies:   Tach

Dependents:   EW202FP_Stop

ContinuousServo.cpp@1:f1fc02b6744f, 2019-04-17 (annotated)

Committer:
m211002
Date:
Wed Apr 17 20:08:25 2019 +0000
Revision:
1:f1fc02b6744f
Parent:
0:d6371727ce0c 
Sonar Subsystem: Stops cart 4/17/19 2.0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jdonnal 0:d6371727ce0c 1 #include "ContinuousServo.h"
jdonnal 0:d6371727ce0c 2
jdonnal 0:d6371727ce0c 3 //64 counts per rev
jdonnal 0:d6371727ce0c 4
jdonnal 0:d6371727ce0c 5 ContinuousServo::ContinuousServo(PinName output): servo_(output){
jdonnal 0:d6371727ce0c 6 servo_.period_ms(50);
jdonnal 0:d6371727ce0c 7 }
jdonnal 0:d6371727ce0c 8
jdonnal 0:d6371727ce0c 9 void ContinuousServo::speed(float val){
jdonnal 0:d6371727ce0c 10 //convert val from -1,1 to 1.3 to 1.7
jdonnal 0:d6371727ce0c 11 if(val<-1.0)
jdonnal 0:d6371727ce0c 12 val = -1.0;
jdonnal 0:d6371727ce0c 13 if(val>1.0)
jdonnal 0:d6371727ce0c 14 val = 1.0;
jdonnal 0:d6371727ce0c 15 servo_.pulsewidth_us((int)(1500+200*val));
jdonnal 0:d6371727ce0c 16 }
jdonnal 0:d6371727ce0c 17
jdonnal 0:d6371727ce0c 18 void ContinuousServo::stop(){
jdonnal 0:d6371727ce0c 19 servo_.pulsewidth_us(0);
jdonnal 0:d6371727ce0c 20 }