Yosuke Kirihata / Mbed 2 deprecated Nucleo_extended_servo

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Dependencies:   mbed

PwmServo.cpp@6:8364e8639b4e, 2014-10-26 (annotated)

Committer:
YosukeK
Date:
Sun Oct 26 05:12:20 2014 +0000
Revision:
6:8364e8639b4e
Parent:
5:8223f5a154e2 
Fixed bug of moveServo(): reverse angle caluculation is wrong.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
YosukeK 0:916047fa0d8b 1 #include <mbed.h>
YosukeK 0:916047fa0d8b 2 #include <PwmServo.h>
YosukeK 0:916047fa0d8b 3
YosukeK 5:8223f5a154e2 4 /**
YosukeK 5:8223f5a154e2 5 * サーボ制御基底クラス
YosukeK 5:8223f5a154e2 6 */
YosukeK 5:8223f5a154e2 7
YosukeK 5:8223f5a154e2 8 /**
YosukeK 5:8223f5a154e2 9 * コンストラクタ
YosukeK 5:8223f5a154e2 10 */
YosukeK 0:916047fa0d8b 11 PwmServo::PwmServo(PinName pin)
YosukeK 0:916047fa0d8b 12 {
YosukeK 0:916047fa0d8b 13 pwm = new PwmOut(pin);
YosukeK 0:916047fa0d8b 14 pwm->period_ms(PWM_CONTROL_PERIOD);
YosukeK 0:916047fa0d8b 15 pwm->write(0.20);
YosukeK 0:916047fa0d8b 16 }
YosukeK 0:916047fa0d8b 17
YosukeK 5:8223f5a154e2 18 /**
YosukeK 5:8223f5a154e2 19 * デストラクタ
YosukeK 5:8223f5a154e2 20 */
YosukeK 0:916047fa0d8b 21 PwmServo::~PwmServo()
YosukeK 0:916047fa0d8b 22 {
YosukeK 0:916047fa0d8b 23 delete pwm;
YosukeK 0:916047fa0d8b 24 }
YosukeK 0:916047fa0d8b 25
YosukeK 5:8223f5a154e2 26 /**
YosukeK 5:8223f5a154e2 27 * 角度設定
YosukeK 5:8223f5a154e2 28 */
YosukeK 0:916047fa0d8b 29 void PwmServo::setAngle(float angle)
YosukeK 0:916047fa0d8b 30 {
YosukeK 0:916047fa0d8b 31 //pwm->pulsewidth(((angle/180) + 1) / 1000);
YosukeK 0:916047fa0d8b 32 pwm->pulsewidth_us((angle*2000)/180+500);//This values correspond to SG90.
YosukeK 0:916047fa0d8b 33 }
YosukeK 0:916047fa0d8b 34
YosukeK 0:916047fa0d8b 35