Jordan Brack / SmartWheelsPublic

SmartWheels self-driving race car. Designed for NXP Cup. Uses FRDM-KL25Z, area-scan camera, and simple image processing to detect and navigate any NXP spec track.

Dependencies:   TSI USBDevice mbed-dev

Fork of SmartWheels by haofan Zheng

Diff: Hardwares/Servo.cpp

Revision:
46:a5eb9bd3bb55
Parent:
45:501b7909139a
Child:
87:15fcf7891bf9
--- a/Hardwares/Servo.cpp	Thu Mar 30 03:50:23 2017 +0000
+++ b/Hardwares/Servo.cpp	Thu Mar 30 22:34:20 2017 +0000
@@ -3,6 +3,7 @@
 #include "Core.h"
 #include "PinAssignment.h"
 #include "SWUSBServer.h"
+#include "GlobalVariable.h"
 
 #include "mbed.h"
 
@@ -27,43 +28,14 @@
         angle = SERVO_LF * SERVO_MAX_ANGLE;
         
     servo_pulseWidth = (0.0015 + (0.00001667 * angle));
-    //char buf[10];
-    //sprintf(buf, "%f", m_pulseWidth);
-    //m_core.GetUSBServer().PushUnreliableMsg('D', buf);
     servo_pwm.pulsewidth(servo_pulseWidth); 
+    //servo_pwm = (servo_pulseWidth / 0.020);
+    
+    //char buf[20];
+    //sprintf(buf, "Serv %f", (float)servo_pwm);
+    //g_core.GetUSBServer().PushUnreliableMsg('D', buf);
 }
 
 #ifdef __cplusplus
 }
 #endif
-/*
-Servo::Servo(SW::Core& core) :
-    m_core(core),
-    m_pwm(PwmOut(PIN_SC_SERVO))
-    
-{
-     m_pulseWidth = 0.0015;
-     m_pwm.period(0.020);
-     m_pwm.pulsewidth(m_pulseWidth);
-}
-
-
-void Servo::Update(float deltaTime)
-{
-    
-}
-
-void Servo::setAngle(float angle)
-{
-    if(angle > SERVO_RT * SERVO_MAX_ANGLE)
-        angle = SERVO_RT * SERVO_MAX_ANGLE;
-    else if(angle < SERVO_LF * SERVO_MAX_ANGLE)
-        angle = SERVO_LF * SERVO_MAX_ANGLE;
-        
-    m_pulseWidth = (0.0015 + (0.00001667 * angle));
-    //char buf[10];
-    //sprintf(buf, "%f", m_pulseWidth);
-    //m_core.GetUSBServer().PushUnreliableMsg('D', buf);
-    m_pwm.pulsewidth(m_pulseWidth); 
-}
-*/
\ No newline at end of file