Yosuke Kirihata
/
Nucleo_extended_servo
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Diff: ExtendedServo.h
- Revision:
- 0:916047fa0d8b
- Child:
- 1:74a29b62a144
diff -r 000000000000 -r 916047fa0d8b ExtendedServo.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ExtendedServo.h Wed Sep 17 15:17:24 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();
+
+ 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 mServo; //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