Diff: Servo.cpp

Revision:

8:c2f0e524696b

Parent:

6:a64d79286726

--- a/Servo.cpp	Sat Nov 19 09:06:16 2016 +0000
+++ b/Servo.cpp	Sat Nov 19 09:10:23 2016 +0000
@@ -1,10 +1,8 @@
  #include "mbed.h"
  #include "Servo.h"
- //added .get() to approximate position
  // gloabl varevlbe used only inseide the class 
 int value_current;
 int value_target;
-int sum;
 float value_target_raw;
 Ticker tick;
 SLCD slcd;
@@ -14,7 +12,6 @@
 
 Servo::Servo(PinName analog_input,PinName Positive, PinName Negative,PinName Speed):
      _feedback(analog_input),_motor(Positive,Negative,Speed) {
-      sum=0;
       
 }   
      /* input is angle intger from 0 - 180 
@@ -63,22 +60,22 @@
         slcd.printf(buffer);
        }
 
+
       
 
       }
       
-      
+     unsigned int Servo::get()
+        {
+            value_current = (int)((int)(_feedback*1000)*0.30769230769);
+           // n = sprintf (buffer, "%d", value_current);
+            return value_current;
+        }
    
 void Servo::check() {
 
-  
-  for (int j = 0; j < 100; j++){
-    sum += _feedback.read_u16();  
-  }
-  value_current = sum / 100;
-  sum = 0;
-
-  n = sprintf (buffer, "%x", value_current);
+  value_current = (int)((int)(_feedback*1000)*0.30769230769);
+  n = sprintf (buffer, "%d", value_current);
   slcd.clear();
   slcd.Home();  
   slcd.printf(buffer);