Robosub controller
Dependencies: IMU MODSERIAL Servo mbed
Fork of RTOS_Controller by
esc.cpp
- Committer:
- aolgu003
- Date:
- 2016-07-29
- Revision:
- 7:396fa2a8648d
- Parent:
- 1:735702ea5519
File content as of revision 7:396fa2a8648d:
#include "mbed.h" #include "esc.h" ESC::ESC(const PinName pwmPinOut, const int period) : esc(pwmPinOut), period(period), throttle(1000) { esc.period_ms(period); esc.pulsewidth_us(throttle); } bool ESC::setThrottle (const float t) { if (t >= 0.0 && t <= 1.0) { // qualify range, 0-1 throttle = 1000.0*t + 1000; // map to range, 1-2 ms (1000-2000us) return true; } return false; } bool ESC::operator= (const float t){ return this->setThrottle(t); } float ESC::getThrottle () const{ return throttle; } ESC::operator float () const{ return this->getThrottle(); } void ESC::pulse () { esc.pulsewidth_us(throttle); } void ESC::operator() () { this->pulse(); }