Diff: Motor.cpp

Revision:

6:a64d79286726

Parent:

3:b787aa49b900

Child:

8:c2f0e524696b

--- a/Motor.cpp	Fri Nov 18 03:59:01 2016 +0000
+++ b/Motor.cpp	Sat Nov 19 08:32:04 2016 +0000
@@ -1,38 +1,86 @@
-#include "mbed.h"
-#include "Motor.h"
+ #include "mbed.h"
+ #include "Servo.h"
+ // gloabl varevlbe used only inseide the class 
+int value_current;
+int value_target;
+float value_target_raw;
+Ticker tick;
+SLCD slcd;
+int n;
+int counter;
+char buffer[50];
 
+Servo::Servo(PinName analog_input,PinName Positive, PinName Negative,PinName Speed):
+     _feedback(analog_input),_motor(Positive,Negative,Speed) {
+      
+}   
+     /* input is angle intger from 0 - 180 
+     *  
+     */
+void Servo::set(int degree) {
+   if(degree > 90){
+   value_target = degree;   // set the value target as the input of the function
+   tick.attach(this,&Servo::move,0.001); // set the ticker to call move every 0.001 sec
+}
+  else{
+   value_target = degree-15;   // set the value target as the input of the function
+   tick.attach(this,&Servo::move,0.001);   
+      } 
+  
+       }//End of Move
+   
+void Servo::move() {
+
+value_current = (int)((int)(_feedback*1000)*0.30769230769);
+
+if(value_target > value_current){ 
+        _motor.Direction(LEFT);
+      //  _motor.Speed(10);
+        //wait(0.1);
+        n = sprintf (buffer, "%d", value_current);
+        slcd.clear();
+        slcd.Home();  
+        slcd.printf(buffer); 
+       }
+else if(value_target < value_current){
+        _motor.Direction(RIGHT);
+      //  _motor.Speed(counter);
+        n = sprintf (buffer, "%d", value_current);
+        slcd.clear();
+        slcd.Home();  
+        slcd.printf(buffer);
+        }     
+else if((value_target == value_current))
+ {
+        tick.detach();
+        _motor.Stop();
+        n = sprintf (buffer, "%d", value_current);
+        slcd.clear();
+        slcd.Home();  
+        slcd.printf(buffer);
+       }
 
 
-Motor::Motor(PinName Positive, PinName Negative,PinName Speed):
-        _positive(Positive), _negative(Negative), _speed(Speed) {
-     _speed.period(0.03f);      // 
-     _speed.write(0.45f); 
-}   
-     /* Input 1 or 2.
-     *  1 : Postive VCC Negtaive GND, 2 : Postive GND Negtaive VCC.
-     */
-void Motor::Direction(int move) {
-     if(move == 1){
-     _positive = 1;
-     _negative = 0;
-    }
-    else if(move == 2){   
-     _positive = 0;
-     _negative = 1;
+      
+
+      }
+      
+     unsigned int Servo::get()
+        {
+            value_current = (int)((int)(_feedback*1000)*0.30769230769);
+           // n = sprintf (buffer, "%d", value_current);
+            return value_current;
         }
-    }//End of Direction
    
-     /* No input.
-     *  1 : Postive GND Negtaive GND  
-     */
-void Motor::Stop() {
-     _positive = 0;
-     _negative = 0;
-    }//End of Stop
-    /* input is the .
-     *  1 : Postive GND Negtaive GND  
-     */
-void Motor::Speed(int motor_speed) {
-   float percantage = motor_speed/100;
-   _speed.write(percantage); 
-    }//End of Stop
\ No newline at end of file
+void Servo::check() {
+
+  value_current = (int)((int)(_feedback*1000)*0.30769230769);
+  n = sprintf (buffer, "%d", value_current);
+  slcd.clear();
+  slcd.Home();  
+  slcd.printf(buffer);
+   
+      }
+            
+      
+      
\ No newline at end of file