Bruno Tomić / Mbed 2 deprecated Zavrsni_rad_NXP_cup

Završni rad NXP Cup

Dependencies:   HBridgeDCMotor mbed FastPWM AutomationElements

Diff: main.cpp

Revision:
3:fc17c2ad6b81
Parent:
2:25b8be806708
Child:
4:d3c4924179f0
--- a/main.cpp	Thu May 12 19:25:16 2016 +0000
+++ b/main.cpp	Wed May 18 20:26:32 2016 +0000
@@ -26,11 +26,10 @@
 
 
 
-void steerServo(float angleDegrees){
-    float offset = 0.00025 * (angleDegrees / 45);
-    if(offset < -0.00025) offset = -0.00025;
-    else if(offset > 0.00025) offset = 0.00025;
-    servo.pulsewidth(0.0010 + offset);
+void steerServo(float angleDegrees){   
+    float minPw = 0.00750, maxPw = 0.00125, minAng = -45, maxAng = 45, pulse = 0;
+    pulse = minPw + ((maxPw - minPw)/(maxAng - minAng))*(angleDegrees - minAng);
+    servo.pulsewidth(pulse);
     }
 
 int main() {