Diff: Servo.cpp

Revision:

0:e50cd1696bca

Child:

1:c1b2ec2662fd

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.cpp	Fri Feb 15 04:13:20 2013 +0000
@@ -0,0 +1,62 @@
+#include "Servo.h"
+#include "mbed.h"
+
+/**
+ * Servo constructor
+ *
+ * Initialize variables, attach to a PWM-enabled pin.
+ */
+Servo::Servo(PinName pwm32) : _pwm(pwm32) {
+    _period = 0;
+    _min = 0;
+    _max = 0;
+    _pos = 0;
+    invert = 0;
+}
+
+/**
+ * float read
+ *
+ * Read the value shat should be at the servo.
+ */
+float Servo::read(void) {
+    return _pos;
+}
+
+/**
+ * void write
+ *
+ * Write a value to the servo
+ *
+ * @param float to Positional data taking values of 0.0 to 1.0.
+ */
+void Servo::write(float to) {
+    if(to < 0 || to > 1) return;
+    float dest_pw;
+    if(invert == 0) {
+        dest_pw = to * _slope + _min;
+    }
+    else if(invert == 1) {
+        dest_pw = to * -_slope + _max;
+    }
+    else { return; }
+    _pwm.pulsewidth(dest_pw);
+}
+
+/**
+ * void calibrate
+ *
+ * Set the limits of the PWM.
+ *
+ * @param float period Pulse period
+ * @param float max Maximum pulse width
+ * @param float min Minimum pulse width
+ */
+void Servo::calibrate(float period, float max, float min) {
+    _period = period;
+    _min = min;
+    _max = max;
+    _slope = max - min;
+    
+    _pwm.period(_period);
+}
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