Diff: Servo.cpp

Revision:

7:ff85ac12e11b

Parent:

6:6af888a91e23

Child:

8:131785ed96fb

--- a/Servo.cpp	Fri Aug 03 05:31:40 2012 +0000
+++ b/Servo.cpp	Thu Aug 30 03:36:03 2012 +0000
@@ -1,79 +1,82 @@
-#include "Servo.h"
-#include "mbed.h"
-
-
-// The next line determines the maximum number of servo objects 
-// that can be successfully created.
-// By default, this is set to 26, as there are only 26 unique 
-// DigitalOut pins provided by the mbed.
-Servo *Servo::servos[26];
-unsigned int Servo::numServos = 0;
-Ticker Servo::refreshTicker;
-
-
-
-// The pin must be specified when the object is initialized, but 
-// the initial pulse width can be omitted, giving a default of 
-// 1500 us. 
-// This should be at about half the range of most servos.
-Servo::Servo(PinName pin, unsigned int width) : signalPin(pin)
-{
-    pulseWidth = width;
-    
-    if (numServos == 0)
-    {
-        // Start the ticker that refreshes all servos
-        refreshTicker.attach_us(&Servo::refresh, period);
-    }
-    
-    servos[numServos++] = this;
-}
-
-
-
-void Servo::write(int width)
-{
-    // Make sure that the pulse width is less than the refresh period
-    pulseWidth = width < period ? width : period;
-}
-
-
-
-int Servo::read()
-{
-    return pulseWidth;
-}
-
-
-
-void Servo::operator=(int width)
-{
-    write(width);
-}
-
-
-
-Servo::operator int()
-{
-    return read();
-}
-
-
-
-void Servo::refresh()
-{   
-    // Start all of the individual servo width timeouts and write a logical 1 to their signal pins
-    for (int i = 0; i < numServos; i++)
-    {
-        servos[i]->servoTimeout.attach_us(servos[i], &Servo::timeout, servos[i]->pulseWidth);
-        Servo::servos[i]->signalPin.write(1);
-    }
-}
-
-
-
-void Servo::timeout()
-{
-    // Write a logical zero to the servo's signal pin
-    signalPin = 0;
+#include "Servo.h"
+#include "mbed.h"
+
+
+
+// The next line determines the maximum number of servo objects 
+// that can be successfully created.
+// By default, this is set to 26, as there are only 26 unique 
+// DigitalOut pins provided by the mbed.
+Servo *Servo::servos[26];
+unsigned int Servo::numServos = 0;
+Ticker* Servo::refreshTicker;
+
+
+
+// The pin must be specified when the object is initialized, but 
+// the initial pulse width can be omitted, giving a default of 
+// 1500 us. 
+// This should be at about half the range of most servos.
+Servo::Servo(PinName pin, unsigned int width) : signalPin(pin)
+{
+    pulseWidth = width;
+    
+    if (numServos == 0)
+    {
+        refreshTicker = new Ticker();
+        
+        // Start the ticker that refreshes all servos
+        refreshTicker->attach_us(&Servo::refresh, period);
+    }
+    
+    servos[numServos++] = this;
+}
+
+
+
+void Servo::write(int width)
+{
+    // Make sure that the pulse width is less than the refresh period
+    pulseWidth = width < period ? width : period;
+}
+
+
+
+int Servo::read()
+{
+    return pulseWidth;
+}
+
+
+
+void Servo::operator=(int width)
+{
+    write(width);
+}
+
+
+
+Servo::operator int()
+{
+    return read();
+}
+
+
+
+void Servo::refresh()
+{
+    // Start all of the individual servo width timeouts and write a logical 1 to their signal pins
+    for (int i = 0; i < numServos; i++)
+    {
+        servos[i]->servoTimeout.attach_us(servos[i], &Servo::timeout, servos[i]->pulseWidth);
+        Servo::servos[i]->signalPin.write(1);
+    }
+}
+
+
+
+void Servo::timeout()
+{
+    // Write a logical zero to the servo's signal pin
+    signalPin = 0;
 }
\ No newline at end of file