Revision 4:b9fe7af92cd5, committed 2016-12-02

Comitter:

backman

Date:

Fri Dec 02 13:03:33 2016 +0000

Parent:

3:36b69a7ced07

Commit message:

servo final;

Changed in this revision

--- a/Servo.cpp	Thu Sep 02 17:34:43 2010 +0000
+++ b/Servo.cpp	Fri Dec 02 13:03:33 2016 +0000
@@ -24,51 +24,64 @@
 #include "Servo.h"
 #include "mbed.h"
 
-static float clamp(float value, float min, float max) {
-    if(value < min) {
-        return min;
-    } else if(value > max) {
-        return max;
-    } else {
-        return value;
-    }
-}
 
 Servo::Servo(PinName pin) : _pwm(pin) {
-    calibrate();
-    write(0.5);
-}
-
-void Servo::write(float percent) {
-    float offset = _range * 2.0 * (percent - 0.5);
-    _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range));
-    _p = clamp(percent, 0.0, 1.0);
+    
+    _pwm.period_ms(20);
+    wait(0.5);
 }
 
-void Servo::position(float degrees) {
-    float offset = _range * (degrees / _degrees);
-    _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range));
-}
+
+
+/*
+
 
-void Servo::calibrate(float range, float degrees) {
-    _range = range;
-    _degrees = degrees;
-}
+  
+    while(1){  
+       
+       p.pulsewidth(0.0010);
+       wait(1);
+       
+        p.pulsewidth((0.0016+0.0009)/2);
+       wait(1);
+       
+       p.pulsewidth(0.0015);
+       wait(1);
+       
+   
+   
+     
+  }
 
-float Servo::read() {
-    return _p;
-}
+*/
+
+
+
 
-Servo& Servo::operator= (float percent) { 
-    write(percent);
-    return *this;
-}
+
+
+void Servo::angle(float ang){
+    
+// l45->0.0010  1000us
+// r45->0.0015  1500us 
+
+
+//0.0010         0.0015
+//  -45        0          45
+         
+//  m= 250/45 =5.556
 
-Servo& Servo::operator= (Servo& rhs) {
-    write(rhs.read());
-    return *this;
-}
+//ang*x=    
 
-Servo::operator float() {
-    return read();
-}
+    _pwm.pulsewidth_us(ang*5.556+1250);    
+        
+    
+    
+    
+    
+    
+    
+    
+    
+    
+}
\ No newline at end of file

--- a/Servo.h	Thu Sep 02 17:34:43 2010 +0000
+++ b/Servo.h	Fri Dec 02 13:03:33 2016 +0000
@@ -25,30 +25,6 @@
 
 #include "mbed.h"
 
-/** Servo control class, based on a PwmOut
- *
- * Example:
- * @code
- * // Continuously sweep the servo through it's full range
- * #include "mbed.h"
- * #include "Servo.h"
- * 
- * Servo myservo(p21);
- * 
- * int main() {
- *     while(1) {
- *         for(int i=0; i<100; i++) {
- *             myservo = i/100.0;
- *             wait(0.01);
- *         }
- *         for(int i=100; i>0; i--) {
- *             myservo = i/100.0;
- *             wait(0.01);
- *         }
- *     }
- * }
- * @endcode
- */
 class Servo {
 
 public:
@@ -62,37 +38,12 @@
      *
      * @param percent A normalised number 0.0-1.0 to represent the full range.
      */
-    void write(float percent);
-    
-    /**  Read the servo motors current position
-     *
-     * @param returns A normalised number 0.0-1.0  representing the full range.
-     */
-    float read();
-    
-    /** Set the servo position
-     *
-     * @param degrees Servo position in degrees
-     */
-    void position(float degrees);
-    
-    /**  Allows calibration of the range and angles for a particular servo
-     *
-     * @param range Pulsewidth range from center (1.5ms) to maximum/minimum position in seconds
-     * @param degrees Angle from centre to maximum/minimum position in degrees
-     */
-    void calibrate(float range = 0.0005, float degrees = 45.0); 
-        
-    /**  Shorthand for the write and read functions */
-    Servo& operator= (float percent);
-    Servo& operator= (Servo& rhs);
-    operator float();
+    void angle(float ang);
+   
 
 protected:
     PwmOut _pwm;
-    float _range;
-    float _degrees;
-    float _p;
+    
 };
 
 #endif