Austin Mitchell / Mbed 2 deprecated RobotFightingControl

Sword fighting robots WIP

Dependencies:   mbed PinDetect

Servo.cpp@0:e8eecd4b9a3d, 2018-12-06 (annotated)

Committer:
amitchell41
Date:
Thu Dec 06 01:30:51 2018 +0000
Revision:
0:e8eecd4b9a3d
Swing batta batta swing

Who changed what in which revision?

UserRevisionLine numberNew contents of line
amitchell41 0:e8eecd4b9a3d 1 /* mbed R/C Servo Library
amitchell41 0:e8eecd4b9a3d 2 *
amitchell41 0:e8eecd4b9a3d 3 * Copyright (c) 2007-2010 sford, cstyles
amitchell41 0:e8eecd4b9a3d 4 *
amitchell41 0:e8eecd4b9a3d 5 * Permission is hereby granted, free of charge, to any person obtaining a copy
amitchell41 0:e8eecd4b9a3d 6 * of this software and associated documentation files (the "Software"), to deal
amitchell41 0:e8eecd4b9a3d 7 * in the Software without restriction, including without limitation the rights
amitchell41 0:e8eecd4b9a3d 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
amitchell41 0:e8eecd4b9a3d 9 * copies of the Software, and to permit persons to whom the Software is
amitchell41 0:e8eecd4b9a3d 10 * furnished to do so, subject to the following conditions:
amitchell41 0:e8eecd4b9a3d 11 *
amitchell41 0:e8eecd4b9a3d 12 * The above copyright notice and this permission notice shall be included in
amitchell41 0:e8eecd4b9a3d 13 * all copies or substantial portions of the Software.
amitchell41 0:e8eecd4b9a3d 14 *
amitchell41 0:e8eecd4b9a3d 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
amitchell41 0:e8eecd4b9a3d 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
amitchell41 0:e8eecd4b9a3d 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
amitchell41 0:e8eecd4b9a3d 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
amitchell41 0:e8eecd4b9a3d 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
amitchell41 0:e8eecd4b9a3d 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
amitchell41 0:e8eecd4b9a3d 21 * THE SOFTWARE.
amitchell41 0:e8eecd4b9a3d 22 */
amitchell41 0:e8eecd4b9a3d 23
amitchell41 0:e8eecd4b9a3d 24 #include "Servo.h"
amitchell41 0:e8eecd4b9a3d 25 #include "mbed.h"
amitchell41 0:e8eecd4b9a3d 26
amitchell41 0:e8eecd4b9a3d 27 static float clamp(float value, float min, float max) {
amitchell41 0:e8eecd4b9a3d 28 if(value < min) {
amitchell41 0:e8eecd4b9a3d 29 return min;
amitchell41 0:e8eecd4b9a3d 30 } else if(value > max) {
amitchell41 0:e8eecd4b9a3d 31 return max;
amitchell41 0:e8eecd4b9a3d 32 } else {
amitchell41 0:e8eecd4b9a3d 33 return value;
amitchell41 0:e8eecd4b9a3d 34 }
amitchell41 0:e8eecd4b9a3d 35 }
amitchell41 0:e8eecd4b9a3d 36
amitchell41 0:e8eecd4b9a3d 37 Servo::Servo(PinName pin) : _pwm(pin) {
amitchell41 0:e8eecd4b9a3d 38 calibrate();
amitchell41 0:e8eecd4b9a3d 39 write(0.5);
amitchell41 0:e8eecd4b9a3d 40 }
amitchell41 0:e8eecd4b9a3d 41
amitchell41 0:e8eecd4b9a3d 42 void Servo::write(float percent) {
amitchell41 0:e8eecd4b9a3d 43 float offset = _range * 2.0 * (percent - 0.5);
amitchell41 0:e8eecd4b9a3d 44 _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range));
amitchell41 0:e8eecd4b9a3d 45 _p = clamp(percent, 0.0, 1.0);
amitchell41 0:e8eecd4b9a3d 46 }
amitchell41 0:e8eecd4b9a3d 47
amitchell41 0:e8eecd4b9a3d 48 void Servo::position(float degrees) {
amitchell41 0:e8eecd4b9a3d 49 float offset = _range * (degrees / _degrees);
amitchell41 0:e8eecd4b9a3d 50 _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range));
amitchell41 0:e8eecd4b9a3d 51 }
amitchell41 0:e8eecd4b9a3d 52
amitchell41 0:e8eecd4b9a3d 53 void Servo::calibrate(float range, float degrees) {
amitchell41 0:e8eecd4b9a3d 54 _range = range;
amitchell41 0:e8eecd4b9a3d 55 _degrees = degrees;
amitchell41 0:e8eecd4b9a3d 56 }
amitchell41 0:e8eecd4b9a3d 57
amitchell41 0:e8eecd4b9a3d 58 float Servo::read() {
amitchell41 0:e8eecd4b9a3d 59 return _p;
amitchell41 0:e8eecd4b9a3d 60 }
amitchell41 0:e8eecd4b9a3d 61
amitchell41 0:e8eecd4b9a3d 62 Servo& Servo::operator= (float percent) {
amitchell41 0:e8eecd4b9a3d 63 write(percent);
amitchell41 0:e8eecd4b9a3d 64 return *this;
amitchell41 0:e8eecd4b9a3d 65 }
amitchell41 0:e8eecd4b9a3d 66
amitchell41 0:e8eecd4b9a3d 67 Servo& Servo::operator= (Servo& rhs) {
amitchell41 0:e8eecd4b9a3d 68 write(rhs.read());
amitchell41 0:e8eecd4b9a3d 69 return *this;
amitchell41 0:e8eecd4b9a3d 70 }
amitchell41 0:e8eecd4b9a3d 71
amitchell41 0:e8eecd4b9a3d 72 Servo::operator float() {
amitchell41 0:e8eecd4b9a3d 73 return read();
amitchell41 0:e8eecd4b9a3d 74 }