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

Hardwares/Servo.cpp@11:676ea42afd56, 2017-02-07 (annotated)

Committer:
Bobymicjohn
Date:
Tue Feb 07 21:58:20 2017 +0000
Revision:
11:676ea42afd56
Child:
13:7dcb1642ef99
Finished Core, and Servo classes.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Bobymicjohn 11:676ea42afd56 1 #include "Servo.h"
Bobymicjohn 11:676ea42afd56 2
Bobymicjohn 11:676ea42afd56 3 #include "Core.h"
Bobymicjohn 11:676ea42afd56 4 #include "PinAssignment.h"
Bobymicjohn 11:676ea42afd56 5 #include "SWUSBServer.h"
Bobymicjohn 11:676ea42afd56 6
Bobymicjohn 11:676ea42afd56 7 #include "mbed.h"
Bobymicjohn 11:676ea42afd56 8
Bobymicjohn 11:676ea42afd56 9
Bobymicjohn 11:676ea42afd56 10 Servo::Servo(SW::Core& core) :
Bobymicjohn 11:676ea42afd56 11 m_core(core),
Bobymicjohn 11:676ea42afd56 12 m_pwm(PwmOut(SC_SERVO))
Bobymicjohn 11:676ea42afd56 13
Bobymicjohn 11:676ea42afd56 14 {
Bobymicjohn 11:676ea42afd56 15 m_pulseWidth = 0.0015;
Bobymicjohn 11:676ea42afd56 16 m_pwm.period(0.020);
Bobymicjohn 11:676ea42afd56 17 m_pwm.pulsewidth(m_pulseWidth);
Bobymicjohn 11:676ea42afd56 18 }
Bobymicjohn 11:676ea42afd56 19
Bobymicjohn 11:676ea42afd56 20
Bobymicjohn 11:676ea42afd56 21 void Servo::Update(float deltaTime)
Bobymicjohn 11:676ea42afd56 22 {
Bobymicjohn 11:676ea42afd56 23
Bobymicjohn 11:676ea42afd56 24 }
Bobymicjohn 11:676ea42afd56 25
Bobymicjohn 11:676ea42afd56 26 void Servo::setAngle(float angle)
Bobymicjohn 11:676ea42afd56 27 {
Bobymicjohn 11:676ea42afd56 28 if(angle > SERVO_RT * SERVO_MAX_ANGLE)
Bobymicjohn 11:676ea42afd56 29 angle = SERVO_RT * SERVO_MAX_ANGLE;
Bobymicjohn 11:676ea42afd56 30 else if(angle < SERVO_LF * SERVO_MAX_ANGLE)
Bobymicjohn 11:676ea42afd56 31 angle = SERVO_LF * SERVO_MAX_ANGLE;
Bobymicjohn 11:676ea42afd56 32
Bobymicjohn 11:676ea42afd56 33 m_pulseWidth = (0.0015 + (0.00001667 * angle));
Bobymicjohn 11:676ea42afd56 34 char buf[10];
Bobymicjohn 11:676ea42afd56 35 sprintf(buf, "%f", m_pulseWidth);
Bobymicjohn 11:676ea42afd56 36 m_core.GetUSBServer().PushUnreliableMsg('D', buf);
Bobymicjohn 11:676ea42afd56 37 m_pwm.pulsewidth(m_pulseWidth);
Bobymicjohn 11:676ea42afd56 38 }
Bobymicjohn 11:676ea42afd56 39
Bobymicjohn 11:676ea42afd56 40 /*
Bobymicjohn 11:676ea42afd56 41 void Servo::turnRight(float angle)
Bobymicjohn 11:676ea42afd56 42 {
Bobymicjohn 11:676ea42afd56 43 if(angle > 21)
Bobymicjohn 11:676ea42afd56 44 angle = 21;
Bobymicjohn 11:676ea42afd56 45
Bobymicjohn 11:676ea42afd56 46 m_pulseWidth = (0.0015 + (0.000017 * angle));
Bobymicjohn 11:676ea42afd56 47 m_pwm.pulsewidth(m_pulseWidth);
Bobymicjohn 11:676ea42afd56 48 }
Bobymicjohn 11:676ea42afd56 49
Bobymicjohn 11:676ea42afd56 50 void Servo::turnLeft(float angle)
Bobymicjohn 11:676ea42afd56 51 {
Bobymicjohn 11:676ea42afd56 52 if(angle > 21)
Bobymicjohn 11:676ea42afd56 53 angle = 21;
Bobymicjohn 11:676ea42afd56 54
Bobymicjohn 11:676ea42afd56 55 m_pulseWidth = (0.0015 - (0.00017 * angle));
Bobymicjohn 11:676ea42afd56 56 m_pwm.pulsewidth(m_pulseWidth);
Bobymicjohn 11:676ea42afd56 57 }
Bobymicjohn 11:676ea42afd56 58 */