Revision 4:3088200d6a7a, committed 2018-05-09

Comitter:

JonFreeman

Date:

Wed May 09 15:06:16 2018 +0000

Parent:

3:36b69a7ced07

Commit message:

changed floats to double in servo

Changed in this revision

--- a/Servo.cpp	Thu Sep 02 17:34:43 2010 +0000
+++ b/Servo.cpp	Wed May 09 15:06:16 2018 +0000
@@ -24,7 +24,7 @@
 #include "Servo.h"
 #include "mbed.h"
 
-static float clamp(float value, float min, float max) {
+static double clamp(double value, double min, double max) {
     if(value < min) {
         return min;
     } else if(value > max) {
@@ -36,30 +36,30 @@
 
 Servo::Servo(PinName pin) : _pwm(pin) {
     calibrate();
-    write(0.5);
+//    write(0.5);   //  Edited out 04 May 2018 J Freeman. This to avoid throttle kick on powerup
 }
 
-void Servo::write(float percent) {
-    float offset = _range * 2.0 * (percent - 0.5);
+void Servo::write(double percent) {
+    double offset = _range * 2.0 * (percent - 0.5);
     _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range));
     _p = clamp(percent, 0.0, 1.0);
 }
 
-void Servo::position(float degrees) {
-    float offset = _range * (degrees / _degrees);
+void Servo::position(double degrees) {
+    double offset = _range * (degrees / _degrees);
     _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range));
 }
 
-void Servo::calibrate(float range, float degrees) {
+void Servo::calibrate(double range, double degrees) {
     _range = range;
     _degrees = degrees;
 }
 
-float Servo::read() {
+double Servo::read() {
     return _p;
 }
 
-Servo& Servo::operator= (float percent) { 
+Servo& Servo::operator= (double percent) { 
     write(percent);
     return *this;
 }
@@ -69,6 +69,6 @@
     return *this;
 }
 
-Servo::operator float() {
+Servo::operator double() {
     return read();
 }

--- a/Servo.h	Thu Sep 02 17:34:43 2010 +0000
+++ b/Servo.h	Wed May 09 15:06:16 2018 +0000
@@ -62,37 +62,37 @@
      *
      * @param percent A normalised number 0.0-1.0 to represent the full range.
      */
-    void write(float percent);
+    void write(double percent);
     
     /**  Read the servo motors current position
      *
      * @param returns A normalised number 0.0-1.0  representing the full range.
      */
-    float read();
+    double read();
     
     /** Set the servo position
      *
      * @param degrees Servo position in degrees
      */
-    void position(float degrees);
+    void position(double degrees);
     
     /**  Allows calibration of the range and angles for a particular servo
      *
      * @param range Pulsewidth range from center (1.5ms) to maximum/minimum position in seconds
      * @param degrees Angle from centre to maximum/minimum position in degrees
      */
-    void calibrate(float range = 0.0005, float degrees = 45.0); 
+    void calibrate(double range = 0.0005, double degrees = 45.0); 
         
     /**  Shorthand for the write and read functions */
-    Servo& operator= (float percent);
+    Servo& operator= (double percent);
     Servo& operator= (Servo& rhs);
-    operator float();
+    operator double();
 
 protected:
     PwmOut _pwm;
-    float _range;
-    float _degrees;
-    float _p;
+    double _range;
+    double _degrees;
+    double _p;
 };
 
 #endif