Diff: Servo.cpp

Revision:

0:c4caca30f35a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.cpp	Tue Aug 31 04:37:07 2010 +0000
@@ -0,0 +1,181 @@
+#include "Servo.h"
+
+Servo::Servo(PinName sgnl) : SignalLine(sgnl), Period(0.02),
+    UpperRange(0.045), Center(0.075), LowerRange(-0.045), Position(0)
+{
+    SignalLine.period(0.02);
+        //set period to most common value;
+    SignalLine.write(0.075);
+        //set position to most common center
+}
+
+void Servo::position(float ratio) 
+{
+    Position = ratio;
+    if (ratio > 1)
+    {
+        ratio = 1;
+    }
+    else if (ratio < -1)
+    {
+        ratio = -1;
+    }
+        //saturate position to the range boundaries
+    if (ratio >= 0)
+    {
+        SignalLine.write((ratio * UpperRange) + Center);
+    }
+    else 
+    {
+        SignalLine.write((ratio * LowerRange) + Center);
+    }
+        //set normalized position (-1 to 1)
+}
+
+float Servo::position()
+{
+    float ratio = SignalLine.read() - Center;
+    if (ratio > UpperRange)
+    {
+        ratio = UpperRange;
+    }
+    else if (ratio < LowerRange)
+    {
+        ratio = LowerRange;
+    }
+        //saturate position to the range boundaries
+    if(ratio >= 0)
+    {
+        return ratio / UpperRange;
+    }
+    else 
+    {
+        return ratio / LowerRange;
+    }
+        //return normalized position
+}
+
+void Servo::maximum(float seconds) 
+{
+    UpperRange = (seconds / Period) - Center;
+    position(Position);
+}
+
+void Servo::maximum_ms(int milliseconds) 
+{
+    UpperRange = ((milliseconds / 1000) / Period) - Center;
+    position(Position);
+}
+
+void Servo::maximum_us(int microseconds) 
+{
+    UpperRange = ((microseconds / 1000000) / Period) - Center;
+    position(Position);
+}
+
+void Servo::center(float seconds)
+{
+    Center = seconds / Period;
+    position(Position);
+}
+
+void Servo::center_ms(int milliseconds)
+{
+    Center = (milliseconds / 1000) / Period;
+    position(Position);
+}
+
+void Servo::center_us(int microseconds)
+{
+    Center = (microseconds / 1000000) / Period;
+    position(Position);
+}
+
+void Servo::minimum(float seconds)
+{
+    LowerRange = (seconds / Period) - Center;
+    position(Position);
+}
+
+void Servo::minimum_ms(int milliseconds)
+{
+    LowerRange = ((milliseconds / 1000) / Period) - Center;
+    position(Position);
+}
+
+void Servo::minimum_us(int microseconds)
+{
+    LowerRange = ((microseconds / 1000000) / Period) - Center;
+    position(Position);
+}
+
+void Servo::period(float seconds)
+{
+    Period = seconds;
+    SignalLine.period(seconds);
+}
+
+void Servo::period_ms(int milliseconds)
+{
+    Period = milliseconds / 1000;
+    SignalLine.period_ms(milliseconds);
+}
+
+void Servo::period_us(int microseconds)
+{
+    Period = microseconds / 1000000;
+    SignalLine.period_us(microseconds);
+}
+
+void Servo::pulsewidth(float seconds)
+{
+    Position = (seconds / Period) - Center;
+    if (Position >=0)
+    {
+        Position /= UpperRange;
+    }
+    else
+    {
+        Position /= LowerRange * -1;
+    }
+    SignalLine.pulsewidth(seconds);
+}
+
+void Servo::pulsewidth_ms(int milliseconds)
+{
+    Position = ((milliseconds / 1000) / Period) - Center;
+    if (Position >=0)
+    {
+        Position /= UpperRange;
+    }
+    else
+    {
+        Position /= LowerRange * -1;
+    }
+    SignalLine.pulsewidth_ms(milliseconds);
+}
+
+void Servo::pulsewidth_us(int microseconds)
+{
+    Position = ((microseconds / 1000000) / Period) - Center;
+    if (Position >=0)
+    {
+        Position /= UpperRange;
+    }
+    else
+    {
+        Position /= LowerRange * -1;
+    }
+    SignalLine.pulsewidth_us(microseconds);
+}
+
+float Servo::operator =(float assignment)
+{
+    position(assignment);
+    return assignment;
+}
+
+Servo::operator float()
+{
+    return position();
+}
\ No newline at end of file