Diff: src/Drivers/servo.cpp

Revision:

1:ceee5a608e7c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/Drivers/servo.cpp	Thu Mar 28 07:44:42 2019 +0000
@@ -0,0 +1,63 @@
+/**
+  ******************************************************************************
+  * @file    SERVO.cpp
+  * @author  RBRO/PJ-IU
+  * @version V1.0.0
+  * @date    day-month-2017
+  * @brief   This file contains the class definition for the steering SERVO
+  *          functionality.
+  ******************************************************************************
+ */
+
+#include <Drivers/servo.hpp>
+
+
+namespace drivers{
+    /** @brief  SERVO class constructor
+     *
+     *  Constructor method
+     *
+     *  @param _pwm               pin connected to servo input
+     */
+    SERVO::SERVO(PinName _pwm)
+        :pwm(_pwm)
+    {
+        pwm.period_ms(20);    
+        // pwm.write(0.075);
+        pwm.write(0.07525);
+    };
+
+    /** @brief  SERVO class destructor
+     *
+     *  Destructor method
+     *
+     *   
+     */
+    SERVO::~SERVO()
+    {
+    };
+
+    /** @brief  Set angle method
+     *
+     *  @param angle      angle
+     */
+    void SERVO::SetAngle(float angle)
+    {
+        pwm.write(conversion(angle));
+    };
+
+    /** @brief  Conversion method
+     *
+     *  @param angle      angle
+     *  \return    duty cycle
+     */
+    float SERVO::conversion(float angle)
+    {
+        //rc-servo-4519
+        //return (0.0010321101 * angle + 0.0725);
+        //fs-5106B
+        // return (0.035 +0.0272+ (angle + 25.f) / 1953.135);
+        //RS2 MG/BB
+        return (0.0009505 * angle + 0.07525);
+    };
+}; // namespace drivers