Andrew Olguin / Mbed 2 deprecated RTOS_Controller_v2

Robosub controller

Dependencies:   IMU MODSERIAL Servo mbed

Fork of RTOS_Controller by Marco Rubio

esc.cpp@7:396fa2a8648d, 2016-07-29 (annotated)

Committer:
aolgu003
Date:
Fri Jul 29 15:34:59 2016 +0000
Revision:
7:396fa2a8648d
Parent:
1:735702ea5519 
Fixed issues and integrated with the sub.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MatteoT 0:116260c66d88 1 #include "mbed.h"
MatteoT 0:116260c66d88 2 #include "esc.h"
MatteoT 0:116260c66d88 3
MatteoT 0:116260c66d88 4 ESC::ESC(const PinName pwmPinOut, const int period)
MatteoT 0:116260c66d88 5 : esc(pwmPinOut), period(period), throttle(1000)
MatteoT 0:116260c66d88 6 {
MatteoT 0:116260c66d88 7 esc.period_ms(period);
MatteoT 0:116260c66d88 8 esc.pulsewidth_us(throttle);
MatteoT 0:116260c66d88 9 }
MatteoT 0:116260c66d88 10
MatteoT 1:735702ea5519 11 bool ESC::setThrottle (const float t)
MatteoT 0:116260c66d88 12 {
MatteoT 0:116260c66d88 13 if (t >= 0.0 && t <= 1.0) { // qualify range, 0-1
MatteoT 0:116260c66d88 14 throttle = 1000.0*t + 1000; // map to range, 1-2 ms (1000-2000us)
MatteoT 0:116260c66d88 15 return true;
MatteoT 0:116260c66d88 16 }
MatteoT 0:116260c66d88 17 return false;
MatteoT 0:116260c66d88 18 }
MatteoT 1:735702ea5519 19 bool ESC::operator= (const float t){
MatteoT 0:116260c66d88 20 return this->setThrottle(t);
MatteoT 0:116260c66d88 21 }
MatteoT 0:116260c66d88 22
MatteoT 1:735702ea5519 23 float ESC::getThrottle () const{
MatteoT 0:116260c66d88 24 return throttle;
MatteoT 0:116260c66d88 25 }
MatteoT 1:735702ea5519 26 ESC::operator float () const{
MatteoT 0:116260c66d88 27 return this->getThrottle();
MatteoT 0:116260c66d88 28 }
MatteoT 0:116260c66d88 29
MatteoT 1:735702ea5519 30 void ESC::pulse ()
MatteoT 0:116260c66d88 31 {
MatteoT 0:116260c66d88 32 esc.pulsewidth_us(throttle);
MatteoT 0:116260c66d88 33 }
MatteoT 1:735702ea5519 34 void ESC::operator() ()
MatteoT 0:116260c66d88 35 {
MatteoT 0:116260c66d88 36 this->pulse();
MatteoT 0:116260c66d88 37 }