Diff: SteeringServo.cpp

Revision:

0:5141c5e51f39

Child:

1:88fe796b4c2e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SteeringServo.cpp	Fri Jun 23 23:36:13 2017 +0000
@@ -0,0 +1,30 @@
+#include "SteeringServo.h"
+
+// -- Constructor Function, Need to Initilise PWM Object
+SteeringServo::SteeringServo(PinName pin, int centrePW, int minPW, int maxPW) : servo_(pin)
+    {
+    servo_.period_us(20000);            // -- Set PWM time period (20 ms)
+    servo_.pulsewidth_us(centrePW);     // -- Default Set Steering to Straight Position
+    minimumPulseWidth_ = minPW;
+    maximumPulseWidth_ = maxPW;
+    centrePulseWidth_ = centrePW;
+    }
+
+// -- Go to position
+void SteeringServo::goToAngle(int pulseWidth){
+    // -- Ensure that pulse width doesn't exceed limits 
+    if (pulseWidth < minimumPulseWidth_){
+        servo_.pulsewidth_us(minimumPulseWidth_);
+        }
+    else if (pulseWidth < minimumPulseWidth_){
+        servo_.pulsewidth_us(minimumPulseWidth_);
+        }
+    else{
+        servo_.pulsewidth_us(pulseWidth);
+        }
+    }
+
+// -- Go to centre (generally used for debugging)
+void SteeringServo::goStraight(void){
+    servo_.pulsewidth_us(centrePulseWidth_);
+    }
\ No newline at end of file