Alex Louden
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Accelerometer
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Servo.h
00001 /* mbed Microcontroller Library - Servo 00002 * Copyright (c) 2007-2008, sford 00003 */ 00004 00005 #ifndef MBED_SERVO_H 00006 #define MBED_SERVO_H 00007 00008 #include "Servo.h" 00009 00010 #include "mbed.h" 00011 #include "platform.h" 00012 00013 00014 namespace mbed { 00015 00016 /* Class: Servo 00017 * Abstraction on top of PwmOut to control the position of a servo motor 00018 * 00019 * Example: 00020 * > // Continuously sweep the servo through it's full range 00021 * > 00022 * > #include "mbed.h" 00023 * > #include "Servo.h" 00024 * > 00025 * > Servo myServo (p21); 00026 * > int main() { 00027 * > int i; 00028 * > while (1) { 00029 * > for (i=0 ; i<100 ; i++){ 00030 * > myServo = i/100.0; 00031 * > wait (0.01); 00032 * > } 00033 * > for (i=100 ; i>0 ; i--){ 00034 * > myServo = i/100.0; 00035 * > wait (0.01); 00036 * > } 00037 * > } 00038 * >} 00039 */ 00040 00041 00042 class Servo : public Base { 00043 00044 public: 00045 /* Constructor: Servo 00046 * Create a servo object connected to the specified PwmOut pin 00047 * 00048 * Variables: 00049 * pin - PwmOut pin to connect to 00050 */ 00051 Servo(PinName pin, const char* = NULL); 00052 00053 /* Function: write 00054 * Set the servo position, normalised to it's full range 00055 * 00056 * Variables: 00057 * percent - A normalised number 0.0-1.0 to represent the full range. 00058 */ 00059 void write(float percent); 00060 /* Function: read 00061 * Read the servo motors current position 00062 * 00063 * Variables: 00064 * returns - A normalised number 0.0-1.0 representing the full range. 00065 */ 00066 float read(); 00067 /* Function: operator= 00068 * Shorthand for the write and read functions 00069 */ 00070 Servo& operator= (float percent); 00071 Servo& operator= (Servo& rhs); 00072 operator float(); 00073 00074 #ifdef MBED_RPC 00075 virtual const struct rpc_method *get_rpc_methods(); 00076 static struct rpc_class *get_rpc_class(); 00077 #endif 00078 00079 protected: 00080 00081 PwmOut _pwm; 00082 float _p; 00083 }; 00084 00085 } 00086 00087 #endif
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