Diff: Servo.cpp

Revision:

0:1fc280fa2177

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.cpp	Wed Jun 02 21:40:10 2010 +0000
@@ -0,0 +1,79 @@
+#include "Servo.h"
+
+Servo::Servo(PinName port) : PwmOut(port)
+{
+    period = 20000;
+    maximum = 2400;
+    minimum = 600;
+    center = 1500;
+    position = 0;
+        //set default values
+    pulsewidth_us(0);
+    period_us(period);
+}
+
+void Servo::setposition(int input) 
+{   
+    position = input;
+    if(position > 255)
+    {
+        position = 255;
+    }
+    else if (position < -255)
+    {
+        position = -255;
+    }
+        //saturate
+    if(position >= 0)
+    {
+        pulsewidth_us(position * (maximum - center) / 255 + center);
+    }
+    else 
+    {
+        pulsewidth_us(position * (center - minimum) / 255 + center);
+    }
+        //set position normalized to 255
+}
+
+void Servo::setperiod(int input)
+{
+    period = input;
+    period_us(period);
+}
+
+void Servo::setcenter(int input)
+{
+    center = input;
+}
+
+void Servo::setmaximum(int input) 
+{
+    maximum = input;
+}
+
+void Servo::setminimum(int input)
+{
+    minimum = input;
+}
+
+Servo& Servo::operator =(int assignment)
+{
+    Servo::setposition(assignment);
+        //shorthand for setposition
+    *this = assignment;
+    return *this;
+        //allow multiple assignment
+}
+
+Servo::operator int()
+{
+    int measurement = read() * period;
+    if(measurement >= center)
+    {
+        return 255 * (measurement - center) / (maximum - center);
+    }
+    else 
+    {
+        return 255 * (measurement - position) / (center - minimum);
+    }
+}
\ No newline at end of file