Servo.cpp

00001 /* mbed R/C Servo Library
00002  *  
00003  * Copyright (c) 2007-2010 sford, cstyles
00004  *
00005  * Permission is hereby granted, free of charge, to any person obtaining a copy
00006  * of this software and associated documentation files (the "Software"), to deal
00007  * in the Software without restriction, including without limitation the rights
00008  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00009  * copies of the Software, and to permit persons to whom the Software is
00010  * furnished to do so, subject to the following conditions:
00011  *
00012  * The above copyright notice and this permission notice shall be included in
00013  * all copies or substantial portions of the Software.
00014  *
00015  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00016  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00017  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00018  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00019  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00020  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00021  * THE SOFTWARE.
00022  */
00023  
00024 #include "Servo.h"
00025 #include "mbed.h"
00026 
00027 
00028 Servo::Servo(PinName pin) : _pwm(pin) {
00029     
00030     _pwm.period_ms(20);
00031     wait(0.5);
00032 }
00033 
00034 
00035 
00036 /*
00037 
00038 
00039   
00040     while(1){  
00041        
00042        p.pulsewidth(0.0010);
00043        wait(1);
00044        
00045         p.pulsewidth((0.0016+0.0009)/2);
00046        wait(1);
00047        
00048        p.pulsewidth(0.0015);
00049        wait(1);
00050        
00051    
00052    
00053      
00054   }
00055 
00056 */
00057 
00058 
00059 
00060 
00061 
00062 
00063 void Servo::angle(float ang){
00064     
00065 // l45->0.0010  1000us
00066 // r45->0.0015  1500us 
00067 
00068 
00069 //0.0010         0.0015
00070 //  -45        0          45
00071          
00072 //  m= 250/45 =5.556
00073 
00074 //ang*x=    
00075 
00076     _pwm.pulsewidth_us(ang*5.556+1250);    
00077         
00078     
00079     
00080     
00081     
00082     
00083     
00084     
00085     
00086     
00087 }