Yosuke Kirihata
/
Nucleo_CaitSith_Firmware_added_delayServo
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Fork of
Nucleo_CaitSith_Firmware
by 
Yosuke Kirihata
DelayServo.cpp@3:9ac9fdf1856e, 2014-11-08 (annotated)
- Committer:
- YosukeK
- Date:
- Sat Nov 08 02:45:59 2014 +0000
- Revision:
- 3:9ac9fdf1856e
- Child:
- 4:039a7d1ce3e9
Added DelayServo class.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| YosukeK | 3:9ac9fdf1856e | 1 | #include <mbed.h> |
| YosukeK | 3:9ac9fdf1856e | 2 | #include <DelayServo.h> |
| YosukeK | 3:9ac9fdf1856e | 3 | |
| YosukeK | 3:9ac9fdf1856e | 4 | /** |
| YosukeK | 3:9ac9fdf1856e | 5 | * 遅延サーボクラス |
| YosukeK | 3:9ac9fdf1856e | 6 | */ |
| YosukeK | 3:9ac9fdf1856e | 7 | |
| YosukeK | 3:9ac9fdf1856e | 8 | /** |
| YosukeK | 3:9ac9fdf1856e | 9 | * コンストラクタ |
| YosukeK | 3:9ac9fdf1856e | 10 | */ |
| YosukeK | 3:9ac9fdf1856e | 11 | DelayServo::DelayServo(PinName pin) : ExtendedServo(pin) |
| YosukeK | 3:9ac9fdf1856e | 12 | //初期化リスト |
| YosukeK | 3:9ac9fdf1856e | 13 | ,mStepAngle(DEFAULT_STEP_ANGLE) |
| YosukeK | 3:9ac9fdf1856e | 14 | ,mCurrentAngle(0) |
| YosukeK | 3:9ac9fdf1856e | 15 | ,mInterval(DEFAULT_INTERVAL) |
| YosukeK | 3:9ac9fdf1856e | 16 | { |
| YosukeK | 3:9ac9fdf1856e | 17 | mTick.attach_us(this, &DelayServo::moveServo, mInterval); |
| YosukeK | 3:9ac9fdf1856e | 18 | }; |
| YosukeK | 3:9ac9fdf1856e | 19 | |
| YosukeK | 3:9ac9fdf1856e | 20 | /** |
| YosukeK | 3:9ac9fdf1856e | 21 | * コンストラクタ |
| YosukeK | 3:9ac9fdf1856e | 22 | */ |
| YosukeK | 3:9ac9fdf1856e | 23 | DelayServo::DelayServo(PinName pin, int stepAngle) : ExtendedServo(pin) |
| YosukeK | 3:9ac9fdf1856e | 24 | //初期化リスト |
| YosukeK | 3:9ac9fdf1856e | 25 | ,mStepAngle(stepAngle) |
| YosukeK | 3:9ac9fdf1856e | 26 | ,mCurrentAngle(0) |
| YosukeK | 3:9ac9fdf1856e | 27 | ,mInterval(DEFAULT_INTERVAL) |
| YosukeK | 3:9ac9fdf1856e | 28 | { |
| YosukeK | 3:9ac9fdf1856e | 29 | mTick.attach_us(this, &DelayServo::moveServo, mInterval); |
| YosukeK | 3:9ac9fdf1856e | 30 | }; |
| YosukeK | 3:9ac9fdf1856e | 31 | |
| YosukeK | 3:9ac9fdf1856e | 32 | /** |
| YosukeK | 3:9ac9fdf1856e | 33 | * コンストラクタ |
| YosukeK | 3:9ac9fdf1856e | 34 | */ |
| YosukeK | 3:9ac9fdf1856e | 35 | DelayServo::DelayServo(PinName pin, int stepAngle, int interval) : ExtendedServo(pin) |
| YosukeK | 3:9ac9fdf1856e | 36 | //初期化リスト |
| YosukeK | 3:9ac9fdf1856e | 37 | ,mStepAngle(stepAngle) |
| YosukeK | 3:9ac9fdf1856e | 38 | ,mCurrentAngle(0) |
| YosukeK | 3:9ac9fdf1856e | 39 | ,mInterval(interval) |
| YosukeK | 3:9ac9fdf1856e | 40 | { |
| YosukeK | 3:9ac9fdf1856e | 41 | mTick.attach_us(this, &DelayServo::moveServo, mInterval); |
| YosukeK | 3:9ac9fdf1856e | 42 | }; |
| YosukeK | 3:9ac9fdf1856e | 43 | |
| YosukeK | 3:9ac9fdf1856e | 44 | /** |
| YosukeK | 3:9ac9fdf1856e | 45 | * コンストラクタ |
| YosukeK | 3:9ac9fdf1856e | 46 | */ |
| YosukeK | 3:9ac9fdf1856e | 47 | DelayServo::DelayServo(PinName pin, int stepAngle, int interval, |
| YosukeK | 3:9ac9fdf1856e | 48 | int upperLimit ,int lowerLimit, int offsetAngle, bool isReverse) |
| YosukeK | 3:9ac9fdf1856e | 49 | : ExtendedServo(pin, upperLimit, lowerLimit, offsetAngle, isReverse) |
| YosukeK | 3:9ac9fdf1856e | 50 | //初期化リスト |
| YosukeK | 3:9ac9fdf1856e | 51 | ,mStepAngle(stepAngle) |
| YosukeK | 3:9ac9fdf1856e | 52 | ,mCurrentAngle(0) |
| YosukeK | 3:9ac9fdf1856e | 53 | ,mInterval(interval) |
| YosukeK | 3:9ac9fdf1856e | 54 | { |
| YosukeK | 3:9ac9fdf1856e | 55 | mTick.attach_us(this, &DelayServo::moveServo, mInterval); |
| YosukeK | 3:9ac9fdf1856e | 56 | }; |
| YosukeK | 3:9ac9fdf1856e | 57 | |
| YosukeK | 3:9ac9fdf1856e | 58 | /** |
| YosukeK | 3:9ac9fdf1856e | 59 | * デストラクタ |
| YosukeK | 3:9ac9fdf1856e | 60 | */ |
| YosukeK | 3:9ac9fdf1856e | 61 | DelayServo::~DelayServo() { |
| YosukeK | 3:9ac9fdf1856e | 62 | mTick.detach(); |
| YosukeK | 3:9ac9fdf1856e | 63 | } |
| YosukeK | 3:9ac9fdf1856e | 64 | |
| YosukeK | 3:9ac9fdf1856e | 65 | /** |
| YosukeK | 3:9ac9fdf1856e | 66 | * サーボ移動 |
| YosukeK | 3:9ac9fdf1856e | 67 | */ |
| YosukeK | 3:9ac9fdf1856e | 68 | void DelayServo::moveServo(void) |
| YosukeK | 3:9ac9fdf1856e | 69 | { |
| YosukeK | 3:9ac9fdf1856e | 70 | //角度計算 |
| YosukeK | 3:9ac9fdf1856e | 71 | if (mTargetAngle - mCurrentAngle >= 0) {//順方向 |
| YosukeK | 3:9ac9fdf1856e | 72 | if (mTargetAngle - mCurrentAngle > mStepAngle) {//目標角度-現在角度が上限角度を超えるなら現在値を上限角度分移動 |
| YosukeK | 3:9ac9fdf1856e | 73 | mCurrentAngle = mCurrentAngle + mStepAngle; |
| YosukeK | 3:9ac9fdf1856e | 74 | } else { |
| YosukeK | 3:9ac9fdf1856e | 75 | mCurrentAngle = mTargetAngle;//上限角度以下なら現在角度は目標角度 |
| YosukeK | 3:9ac9fdf1856e | 76 | } |
| YosukeK | 3:9ac9fdf1856e | 77 | } else {//逆方向 |
| YosukeK | 3:9ac9fdf1856e | 78 | if (mTargetAngle - mCurrentAngle < mStepAngle * -1) { |
| YosukeK | 3:9ac9fdf1856e | 79 | mCurrentAngle = mCurrentAngle - mStepAngle;// + (mStepAngle * -1) |
| YosukeK | 3:9ac9fdf1856e | 80 | } else { |
| YosukeK | 3:9ac9fdf1856e | 81 | mCurrentAngle = mTargetAngle; |
| YosukeK | 3:9ac9fdf1856e | 82 | } |
| YosukeK | 3:9ac9fdf1856e | 83 | } |
| YosukeK | 3:9ac9fdf1856e | 84 | |
| YosukeK | 3:9ac9fdf1856e | 85 | ExtendedServo::setAngle(mCurrentAngle); |
| YosukeK | 3:9ac9fdf1856e | 86 | } |
| YosukeK | 3:9ac9fdf1856e | 87 | |
| YosukeK | 3:9ac9fdf1856e | 88 | /** |
| YosukeK | 3:9ac9fdf1856e | 89 | * 更新周期再設定 |
| YosukeK | 3:9ac9fdf1856e | 90 | */ |
| YosukeK | 3:9ac9fdf1856e | 91 | void DelayServo::updateInterval(int interval) |
| YosukeK | 3:9ac9fdf1856e | 92 | { |
| YosukeK | 3:9ac9fdf1856e | 93 | mTick.detach(); |
| YosukeK | 3:9ac9fdf1856e | 94 | mInterval = interval; |
| YosukeK | 3:9ac9fdf1856e | 95 | mTick.attach_us(this, &DelayServo::moveServo, mInterval); |
| YosukeK | 3:9ac9fdf1856e | 96 | } |
| YosukeK | 3:9ac9fdf1856e | 97 | |
| YosukeK | 3:9ac9fdf1856e | 98 | /** |
| YosukeK | 3:9ac9fdf1856e | 99 | * 角度設定 |
| YosukeK | 3:9ac9fdf1856e | 100 | */ |
| YosukeK | 3:9ac9fdf1856e | 101 | void DelayServo::setAngle(int angle) |
| YosukeK | 3:9ac9fdf1856e | 102 | { |
| YosukeK | 3:9ac9fdf1856e | 103 | mTargetAngle = angle; |
| YosukeK | 3:9ac9fdf1856e | 104 | moveServo(); |
| YosukeK | 3:9ac9fdf1856e | 105 | } |