Oliver Ainhirn
/
servo
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Revision 0:1b5364ba80c0, committed 2019-06-24
- Comitter:
- corsa1600
- Date:
- Mon Jun 24 05:34:33 2019 +0000
- Commit message:
- Versuch 1
Changed in this revision
| servo.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- /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