Yosuke Kirihata / Mbed 2 deprecated Nucleo_CaitSith_Firmware_added_delayServo

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Dependencies:   mbed

Fork of Nucleo_CaitSith_Firmware by Yosuke Kirihata

DelayServo.cpp

Committer:
YosukeK
Date:
2015-01-24
Revision:
4:039a7d1ce3e9
Parent:
3:9ac9fdf1856e
Child:
6:a3829299dfd5

File content as of revision 4:039a7d1ce3e9:

#include <mbed.h>
#include <DelayServo.h>
#include <def_resources.h>

/**
 * 遅延サーボクラス
 */

/**
 * コンストラクタ
 */
DelayServo::DelayServo(PinName pin) : ExtendedServo(pin)
//初期化リスト
,mStepAngle(DEFAULT_STEP_ANGLE)
,mCurrentAngle(0)
,mInterval(DEFAULT_INTERVAL)
{
  //mTick.attach_us(this, &DelayServo::moveServo, mInterval);
};

/**
 * コンストラクタ
 */
DelayServo::DelayServo(PinName pin, int stepAngle) : ExtendedServo(pin)
//初期化リスト
,mStepAngle(stepAngle)
,mCurrentAngle(0)
,mInterval(DEFAULT_INTERVAL)
{
  //mTick.attach_us(this, &DelayServo::moveServo, mInterval);
};

/**
 * コンストラクタ
 */
DelayServo::DelayServo(PinName pin, int stepAngle, int interval) : ExtendedServo(pin)
//初期化リスト
,mStepAngle(stepAngle)
,mCurrentAngle(0)
,mInterval(interval)
{
  //mTick.attach_us(this, &DelayServo::moveServo, mInterval);
};

/**
 * コンストラクタ
 */
DelayServo::DelayServo(PinName pin, int stepAngle, int interval,
  int upperLimit ,int lowerLimit, int offsetAngle, bool isReverse)
  : ExtendedServo(pin, upperLimit, lowerLimit, offsetAngle, isReverse)
//初期化リスト
,mStepAngle(stepAngle)
,mCurrentAngle(0)
,mInterval(interval)
{
  //mTick.attach_us(this, &DelayServo::moveServo, mInterval);
};

/**
 * デストラクタ
 */
DelayServo::~DelayServo() {
  //mTick.detach();
}

/**
 * サーボ移動
 */
void DelayServo::moveServo(void)
{
  nyandaLight = 1 - nyandaLight;
  
  //角度計算
  if (mTargetAngle - mCurrentAngle >= 0) {//順方向
    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
      mCurrentAngle = mCurrentAngle + mStepAngle;
    } else {
      mCurrentAngle = mTargetAngle;//上限角度以下なら現在角度は目標角度
    }
  } else {//逆方向
    if (mTargetAngle - mCurrentAngle < mStepAngle * -1) {
      mCurrentAngle = mCurrentAngle - mStepAngle;// + (mStepAngle * -1)
    } else {
      mCurrentAngle = mTargetAngle;
    }
  }
  
  ExtendedServo::setAngle(mCurrentAngle);
}

/**
 * 更新周期再設定
 */
void DelayServo::updateInterval(int interval)
{
  //mTick.detach();
  mInterval = interval;
  //mTick.attach_us(this, &DelayServo::moveServo, mInterval);
}

/**
 * 角度設定
 */
void DelayServo::setAngle(int angle)
{
  mTargetAngle = angle;
  moveServo();
}