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