Diff: servo_api.cpp

Revision:

8:089b778962c4

Parent:

1:82bc25a7b68b

--- a/servo_api.cpp	Mon Jul 07 06:52:03 2014 +0000
+++ b/servo_api.cpp	Fri Oct 31 10:54:51 2014 +0000
@@ -1,47 +1,45 @@
 // 0~180 angle    1~2ms
 #include "mbed.h"
 #include "servo_api.h"
-
-
-#define right_end 0.05  //90
-
-#define left_end 0.1    //-90
-
+ 
+ 
+#define right_end 0.088  // 0.088
+                            //MID 0.073
+#define left_end 0.058  //  0.058
+ 
 //memory opt
 // 5 degree seperate
-
-
-
+ 
+ 
+ 
 BX_servo::BX_servo(void){
     
     
       angle = 0;
-
+ 
       servo_in= new  PwmOut(PTB0);
       
       servo_in->period_ms(20);
           
-      for(int i=0;i<37;i++){
-          
-          angle_level[i]=i*(0.05/36)+right_end;
-          }
-
-      *servo_in =angle_level[18];
-      
+    
     
     }
-
-
-
-
-
-
-int BX_servo::set_angle(int a){
-    
-    
-      angle=a;
+ 
+ 
+ 
+ 
+ 
+ 
+float BX_servo::set_angle(float a){
+        
+    if( a<left_end )
+       a=left_end;
+    else if(a> right_end)
+       a=right_end;   
        
-      *servo_in=angle_level[18+a/5];
+       angle=a;
+       
+      *servo_in=angle;