versuch 1
Diff: servo.cpp
- Revision:
- 0:1b5364ba80c0
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/servo.cpp Mon Jun 24 05:34:33 2019 +0000 @@ -0,0 +1,64 @@ +#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); +} + +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; +} + +float Servo::read() +{ + return _p; +} + +Servo& Servo::operator= (float percent) +{ + write(percent); + return *this; +} + +Servo& Servo::operator= (Servo& rhs) +{ + write(rhs.read()); + return *this; +} + +Servo::operator float() +{ + return read(); +} \ No newline at end of file