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ServoArm.cpp
00001 /* mbed R/C Servo Library 00002 * 00003 * Copyright (c) 2007-2010 sford, cstyles 00004 * 00005 * Permission is hereby granted, free of charge, to any person obtaining a copy 00006 * of this software and associated documentation files (the "Software"), to deal 00007 * in the Software without restriction, including without limitation the rights 00008 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00009 * copies of the Software, and to permit persons to whom the Software is 00010 * furnished to do so, subject to the following conditions: 00011 * 00012 * The above copyright notice and this permission notice shall be included in 00013 * all copies or substantial portions of the Software. 00014 * 00015 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00016 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00017 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00018 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00019 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00020 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 00021 * THE SOFTWARE. 00022 */ 00023 00024 #include "ServoArm.h" 00025 #include "mbed.h" 00026 00027 static float clamp(float value, float min, float max) { 00028 if(value < min) { 00029 return min; 00030 } else if(value > max) { 00031 return max; 00032 } else { 00033 return value; 00034 } 00035 } 00036 00037 ServoArm::ServoArm(PinName pin) : _pwm(pin) { 00038 calibrate(); 00039 write(0.5); 00040 } 00041 00042 void ServoArm::write(float percent) { 00043 float offset = _range * 2.0 * (percent - 0.5); 00044 _pwm.period(0.008); 00045 _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range)); 00046 _p = clamp(percent, 0.0, 1.0); 00047 } 00048 00049 void ServoArm::position(float degrees) { 00050 float offset = _range * (degrees / _degrees); 00051 _pwm.period(0.008); 00052 _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range)); 00053 } 00054 00055 void ServoArm::calibrate(float range, float degrees) { 00056 _range = range; 00057 _degrees = degrees; 00058 } 00059 00060 float ServoArm::read() { 00061 return _p; 00062 } 00063 00064 ServoArm& ServoArm::operator= (float percent) { 00065 write(percent); 00066 return *this; 00067 } 00068 00069 ServoArm& ServoArm::operator= (ServoArm& rhs) { 00070 write(rhs.read()); 00071 return *this; 00072 } 00073 00074 ServoArm::operator float() { 00075 return read(); 00076 }
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