Tony Lin
hello
servo_api.cpp@14:303b22b76d7a, 2014-06-28 (annotated)
- Committer:
- TonyLin
- Date:
- Sat Jun 28 07:32:39 2014 +0000
- Revision:
- 14:303b22b76d7a
- Parent:
- 11:03d5aa2511c4
Dynamic kp!!!!
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| backman | 1:82bc25a7b68b | 1 | // 0~180 angle 1~2ms |
| backman | 1:82bc25a7b68b | 2 | #include "mbed.h" |
| backman | 1:82bc25a7b68b | 3 | #include "servo_api.h" |
| backman | 1:82bc25a7b68b | 4 | |
| backman | 1:82bc25a7b68b | 5 | |
| backman | 9:33b99cb45e99 | 6 | #define right_end 0.06 //90 |
| backman | 1:82bc25a7b68b | 7 | |
| backman | 11:03d5aa2511c4 | 8 | #define left_end 0.101 //-90 |
| backman | 1:82bc25a7b68b | 9 | |
| backman | 1:82bc25a7b68b | 10 | //memory opt |
| backman | 1:82bc25a7b68b | 11 | // 5 degree seperate |
| backman | 1:82bc25a7b68b | 12 | |
| backman | 1:82bc25a7b68b | 13 | |
| backman | 1:82bc25a7b68b | 14 | |
| backman | 1:82bc25a7b68b | 15 | BX_servo::BX_servo(void){ |
| backman | 1:82bc25a7b68b | 16 | |
| backman | 1:82bc25a7b68b | 17 | |
| backman | 1:82bc25a7b68b | 18 | angle = 0; |
| backman | 1:82bc25a7b68b | 19 | |
| backman | 1:82bc25a7b68b | 20 | servo_in= new PwmOut(PTB0); |
| backman | 1:82bc25a7b68b | 21 | |
| backman | 1:82bc25a7b68b | 22 | servo_in->period_ms(20); |
| backman | 1:82bc25a7b68b | 23 | |
| backman | 9:33b99cb45e99 | 24 | |
| backman | 1:82bc25a7b68b | 25 | |
| backman | 1:82bc25a7b68b | 26 | } |
| backman | 1:82bc25a7b68b | 27 | |
| backman | 1:82bc25a7b68b | 28 | |
| backman | 1:82bc25a7b68b | 29 | |
| backman | 1:82bc25a7b68b | 30 | |
| backman | 1:82bc25a7b68b | 31 | |
| backman | 1:82bc25a7b68b | 32 | |
| backman | 9:33b99cb45e99 | 33 | float BX_servo::set_angle(float a){ |
| backman | 9:33b99cb45e99 | 34 | |
| backman | 11:03d5aa2511c4 | 35 | if( a>left_end ) |
| backman | 11:03d5aa2511c4 | 36 | a=left_end; |
| backman | 11:03d5aa2511c4 | 37 | else if(a< right_end) |
| backman | 11:03d5aa2511c4 | 38 | a=right_end; |
| backman | 11:03d5aa2511c4 | 39 | |
| backman | 11:03d5aa2511c4 | 40 | |
| backman | 11:03d5aa2511c4 | 41 | |
| backman | 11:03d5aa2511c4 | 42 | |
| backman | 11:03d5aa2511c4 | 43 | |
| backman | 1:82bc25a7b68b | 44 | |
| backman | 1:82bc25a7b68b | 45 | angle=a; |
| backman | 1:82bc25a7b68b | 46 | |
| backman | 9:33b99cb45e99 | 47 | *servo_in=angle; |
| backman | 1:82bc25a7b68b | 48 | |
| backman | 1:82bc25a7b68b | 49 | |
| backman | 1:82bc25a7b68b | 50 | |
| backman | 1:82bc25a7b68b | 51 | return angle; |
| backman | 1:82bc25a7b68b | 52 | |
| backman | 1:82bc25a7b68b | 53 | } |