Diff: Servo.cpp

Revision:

1:940dffb14ff6

Parent:

0:6c0e56235914

Child:

2:738b08cb03ea

--- a/Servo.cpp	Sat Oct 21 19:27:20 2017 +0000
+++ b/Servo.cpp	Sat Oct 21 21:32:00 2017 +0200
@@ -0,0 +1,98 @@
+#ifndef _SERVO_
+#define _SERVO_
+
+#include "mbed.h"
+
+/**
+ *  A Servo controller library :)s
+ *
+ * @author CA Bezuidenhout
+ */
+class Servo {
+public:
+    /**
+    * @param pwmPin : PWM pin of servo / orange wire
+    * @param zeroAngle : The zero angle of the servo
+    * @param minAngle : The minimum angle allowed for the servo
+    * @param maxAngle : The maximum angle allowed for the servo
+    */
+    Servo(PinName pwmPin, float zeroAngle = 0, float minAngle = -90.0f, float maxAngle = 90.0f);
+  
+    /**
+     * Saves the current position as the zero position.
+     */
+    void SaveZero();
+  
+    /**
+     * Sets the zero position without moving the servo
+     *
+     * @param angle : The angle to set as the zero position
+     */
+    void SetZero(float angle);
+  
+    /**
+     * Calibrate the servo
+     * @param actualAngle : The actual angle from zero, of the current position in degrees.
+     */
+    void Calibrate(float actualAngle);
+  
+    /**
+     * Sets the angular position of the servo
+     * @param angle : Desired angle from the zero position in degrees
+     */
+    void Set(float angle);
+  
+    /**
+     * Moves to an relative angular position from the current position
+     * @param relAngle : The relative angle to move in degrees
+     */
+    void Move(float relAngle);
+  
+    /**
+     * Disables control signal to servo
+     */
+    void Off();
+
+    /**
+     * Gets the current angle of the servo
+     * @returns Current angle of the servo
+     */ 
+    float GetAngle();
+
+    /**
+     * Sets the minimum angle allowed for the servo
+     * @params minAngle : minimum angle allowed
+     */
+    void SetMin(float minAngle);
+
+    /**
+     * Sets the maximum angle allowed for the servo
+     * @params maxAngle : maximum angle allowed
+     */
+    void SetMax(float maxAngle);
+
+    /**
+     * Sets the servo to minimum position
+     */
+    void GotoMin();
+
+    /**
+     * Sets the servo to maximum position
+     */
+    void GotoMax();
+
+private:
+    PwmOut _servo;
+    float _angle;
+    float _ref;
+    float _minAngle;
+    float _maxAngle;
+    
+    float PW_PER_DEG;
+    float ZEROPW;
+    static const float MIN_PW = 0.0005;
+    static const float MAX_PW = 0.0025f;
+  
+    void SetServo();
+};
+#endif
\ No newline at end of file