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Diff: Servo.h
- Revision:
- 0:76b1b51d98f6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.h Sun Dec 06 07:29:17 2009 +0000 @@ -0,0 +1,87 @@ +/* mbed Microcontroller Library - Servo + * Copyright (c) 2007-2008, sford + */ + +#ifndef MBED_SERVO_H +#define MBED_SERVO_H + +#include "Servo.h" + +#include "mbed.h" +#include "platform.h" + + +namespace mbed { + +/* Class: Servo + * Abstraction on top of PwmOut to control the position of a servo motor + * + * Example: + * > // Continuously sweep the servo through it's full range + * > + * > #include "mbed.h" + * > #include "Servo.h" + * > + * > Servo myServo (p21); + * > int main() { + * > int i; + * > while (1) { + * > for (i=0 ; i<100 ; i++){ + * > myServo = i/100.0; + * > wait (0.01); + * > } + * > for (i=100 ; i>0 ; i--){ + * > myServo = i/100.0; + * > wait (0.01); + * > } + * > } + * >} + */ + + +class Servo : public Base { + +public: + /* Constructor: Servo + * Create a servo object connected to the specified PwmOut pin + * + * Variables: + * pin - PwmOut pin to connect to + */ + Servo(PinName pin, const char* = NULL); + + /* Function: write + * Set the servo position, normalised to it's full range + * + * Variables: + * percent - A normalised number 0.0-1.0 to represent the full range. + */ + void write(float percent); + /* Function: read + * Read the servo motors current position + * + * Variables: + * returns - A normalised number 0.0-1.0 representing the full range. + */ + float read(); + /* Function: operator= + * Shorthand for the write and read functions + */ + Servo& operator= (float percent); + Servo& operator= (Servo& rhs); + operator float(); + +#ifdef MBED_RPC + virtual const struct rpc_method *get_rpc_methods(); + static struct rpc_class *get_rpc_class(); +#endif + +protected: + + PwmOut _pwm; + float _p; +}; + +} + +#endif