Kallum Whitehead / SteeringServoV2

Kallums Fork

Fork of SteeringServo by James Batchelar

SteeringServo.cpp@0:5141c5e51f39, 2017-06-23 (annotated)

Committer:
batchee7
Date:
Fri Jun 23 23:36:13 2017 +0000
Revision:
0:5141c5e51f39
Child:
1:88fe796b4c2e
initial

Who changed what in which revision?

UserRevisionLine numberNew contents of line
batchee7 0:5141c5e51f39 1 #include "SteeringServo.h"
batchee7 0:5141c5e51f39 2
batchee7 0:5141c5e51f39 3 // -- Constructor Function, Need to Initilise PWM Object
batchee7 0:5141c5e51f39 4 SteeringServo::SteeringServo(PinName pin, int centrePW, int minPW, int maxPW) : servo_(pin)
batchee7 0:5141c5e51f39 5 {
batchee7 0:5141c5e51f39 6 servo_.period_us(20000); // -- Set PWM time period (20 ms)
batchee7 0:5141c5e51f39 7 servo_.pulsewidth_us(centrePW); // -- Default Set Steering to Straight Position
batchee7 0:5141c5e51f39 8 minimumPulseWidth_ = minPW;
batchee7 0:5141c5e51f39 9 maximumPulseWidth_ = maxPW;
batchee7 0:5141c5e51f39 10 centrePulseWidth_ = centrePW;
batchee7 0:5141c5e51f39 11 }
batchee7 0:5141c5e51f39 12
batchee7 0:5141c5e51f39 13 // -- Go to position
batchee7 0:5141c5e51f39 14 void SteeringServo::goToAngle(int pulseWidth){
batchee7 0:5141c5e51f39 15 // -- Ensure that pulse width doesn't exceed limits
batchee7 0:5141c5e51f39 16 if (pulseWidth < minimumPulseWidth_){
batchee7 0:5141c5e51f39 17 servo_.pulsewidth_us(minimumPulseWidth_);
batchee7 0:5141c5e51f39 18 }
batchee7 0:5141c5e51f39 19 else if (pulseWidth < minimumPulseWidth_){
batchee7 0:5141c5e51f39 20 servo_.pulsewidth_us(minimumPulseWidth_);
batchee7 0:5141c5e51f39 21 }
batchee7 0:5141c5e51f39 22 else{
batchee7 0:5141c5e51f39 23 servo_.pulsewidth_us(pulseWidth);
batchee7 0:5141c5e51f39 24 }
batchee7 0:5141c5e51f39 25 }
batchee7 0:5141c5e51f39 26
batchee7 0:5141c5e51f39 27 // -- Go to centre (generally used for debugging)
batchee7 0:5141c5e51f39 28 void SteeringServo::goStraight(void){
batchee7 0:5141c5e51f39 29 servo_.pulsewidth_us(centrePulseWidth_);
batchee7 0:5141c5e51f39 30 }