Yosuke Kirihata / Mbed 2 deprecated Nucleo_CaitSith_Firmware_added_delayServo

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Dependencies:   mbed

Fork of Nucleo_CaitSith_Firmware by Yosuke Kirihata

Diff: ExtendedServo.h

Revision:
1:5f6dd444850a
Child:
3:9ac9fdf1856e
diff -r a9b204e27472 -r 5f6dd444850a ExtendedServo.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ExtendedServo.h	Sat Sep 20 07:04:09 2014 +0000
@@ -0,0 +1,41 @@
+#ifndef __EXTENDEDSERVO_H__
+#define __EXTENDEDSERVO_H__
+ 
+#include "PwmServo.h"
+
+/* 拡張サーボクラス */
+class ExtendedServo
+{
+  public:
+    //constructor
+    ExtendedServo(PinName pin);
+    ExtendedServo(PinName pin, int upperLimit , int lowerLimit);
+    ExtendedServo(PinName pin, int upperLimitAngle ,int lowerLimitAngle,
+                  int offsetAngle, bool isReverse);
+    //destructor
+    ~ExtendedServo();
+    //setter,getter
+    void setOffsetAngle(int angle);
+    int getOffsetAngle();
+    void setDirection(bool isReverse);
+    int getDirection();
+    void setUpperLimit(int angle);
+    int getUpperLimit();
+    void setLowerLimit(int angle);
+    int getLowerLimit();
+    //method
+    int convertAngle(int angle);
+    int reverseAngle(int angle, bool isReverse);
+    int roundAngle(int angle, int upperLimit, int lowerLimit);
+    void setAngle(int angle);
+    void backToStartPoint();
+ 
+  private:
+    PwmServo* mPwmServo; //サーボのインスタンス
+    int mOffsetAngle; //
+    bool mIsReverse; //
+    int mUpperLimit;//
+    int mLowerLimit;//
+};
+ 
+#endif /* __EXTENDEDSERVO_H__ */
\ No newline at end of file