SERVO PARA QUADCOPTER
Dependents: quadcopter servo1 Elevator
Servo.cpp@0:5490c22f727d, 2011-02-22 (annotated)
- Committer:
- cr0n0s20
- Date:
- Tue Feb 22 22:07:28 2011 +0000
- Revision:
- 0:5490c22f727d
1.0
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
cr0n0s20 | 0:5490c22f727d | 1 | /* mbed R/C Servo Library |
cr0n0s20 | 0:5490c22f727d | 2 | * |
cr0n0s20 | 0:5490c22f727d | 3 | * Copyright (c) 2007-2010 sford, cstyles |
cr0n0s20 | 0:5490c22f727d | 4 | * |
cr0n0s20 | 0:5490c22f727d | 5 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
cr0n0s20 | 0:5490c22f727d | 6 | * of this software and associated documentation files (the "Software"), to deal |
cr0n0s20 | 0:5490c22f727d | 7 | * in the Software without restriction, including without limitation the rights |
cr0n0s20 | 0:5490c22f727d | 8 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
cr0n0s20 | 0:5490c22f727d | 9 | * copies of the Software, and to permit persons to whom the Software is |
cr0n0s20 | 0:5490c22f727d | 10 | * furnished to do so, subject to the following conditions: |
cr0n0s20 | 0:5490c22f727d | 11 | * |
cr0n0s20 | 0:5490c22f727d | 12 | * The above copyright notice and this permission notice shall be included in |
cr0n0s20 | 0:5490c22f727d | 13 | * all copies or substantial portions of the Software. |
cr0n0s20 | 0:5490c22f727d | 14 | * |
cr0n0s20 | 0:5490c22f727d | 15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
cr0n0s20 | 0:5490c22f727d | 16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
cr0n0s20 | 0:5490c22f727d | 17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
cr0n0s20 | 0:5490c22f727d | 18 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
cr0n0s20 | 0:5490c22f727d | 19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
cr0n0s20 | 0:5490c22f727d | 20 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
cr0n0s20 | 0:5490c22f727d | 21 | * THE SOFTWARE. |
cr0n0s20 | 0:5490c22f727d | 22 | */ |
cr0n0s20 | 0:5490c22f727d | 23 | |
cr0n0s20 | 0:5490c22f727d | 24 | #include "Servo.h" |
cr0n0s20 | 0:5490c22f727d | 25 | #include "mbed.h" |
cr0n0s20 | 0:5490c22f727d | 26 | |
cr0n0s20 | 0:5490c22f727d | 27 | static float clamp(float value, float min, float max) { |
cr0n0s20 | 0:5490c22f727d | 28 | if(value < min) { |
cr0n0s20 | 0:5490c22f727d | 29 | return min; |
cr0n0s20 | 0:5490c22f727d | 30 | } else if(value > max) { |
cr0n0s20 | 0:5490c22f727d | 31 | return max; |
cr0n0s20 | 0:5490c22f727d | 32 | } else { |
cr0n0s20 | 0:5490c22f727d | 33 | return value; |
cr0n0s20 | 0:5490c22f727d | 34 | } |
cr0n0s20 | 0:5490c22f727d | 35 | } |
cr0n0s20 | 0:5490c22f727d | 36 | |
cr0n0s20 | 0:5490c22f727d | 37 | Servo::Servo(PinName pin) : _pwm(pin) { |
cr0n0s20 | 0:5490c22f727d | 38 | calibrate(); |
cr0n0s20 | 0:5490c22f727d | 39 | write(0.5); |
cr0n0s20 | 0:5490c22f727d | 40 | } |
cr0n0s20 | 0:5490c22f727d | 41 | |
cr0n0s20 | 0:5490c22f727d | 42 | void Servo::write(float percent) { |
cr0n0s20 | 0:5490c22f727d | 43 | float offset = _range * 2.0 * (percent - 0.5); |
cr0n0s20 | 0:5490c22f727d | 44 | _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range)); |
cr0n0s20 | 0:5490c22f727d | 45 | _p = clamp(percent, 0.0, 1.0); |
cr0n0s20 | 0:5490c22f727d | 46 | } |
cr0n0s20 | 0:5490c22f727d | 47 | |
cr0n0s20 | 0:5490c22f727d | 48 | void Servo::position(float degrees) { |
cr0n0s20 | 0:5490c22f727d | 49 | float offset = _range * (degrees / _degrees); |
cr0n0s20 | 0:5490c22f727d | 50 | _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range)); |
cr0n0s20 | 0:5490c22f727d | 51 | } |
cr0n0s20 | 0:5490c22f727d | 52 | |
cr0n0s20 | 0:5490c22f727d | 53 | void Servo::calibrate(float range, float degrees) { |
cr0n0s20 | 0:5490c22f727d | 54 | _range = range; |
cr0n0s20 | 0:5490c22f727d | 55 | _degrees = degrees; |
cr0n0s20 | 0:5490c22f727d | 56 | } |
cr0n0s20 | 0:5490c22f727d | 57 | |
cr0n0s20 | 0:5490c22f727d | 58 | float Servo::read() { |
cr0n0s20 | 0:5490c22f727d | 59 | return _p; |
cr0n0s20 | 0:5490c22f727d | 60 | } |
cr0n0s20 | 0:5490c22f727d | 61 | |
cr0n0s20 | 0:5490c22f727d | 62 | Servo& Servo::operator= (float percent) { |
cr0n0s20 | 0:5490c22f727d | 63 | write(percent); |
cr0n0s20 | 0:5490c22f727d | 64 | return *this; |
cr0n0s20 | 0:5490c22f727d | 65 | } |
cr0n0s20 | 0:5490c22f727d | 66 | |
cr0n0s20 | 0:5490c22f727d | 67 | Servo& Servo::operator= (Servo& rhs) { |
cr0n0s20 | 0:5490c22f727d | 68 | write(rhs.read()); |
cr0n0s20 | 0:5490c22f727d | 69 | return *this; |
cr0n0s20 | 0:5490c22f727d | 70 | } |
cr0n0s20 | 0:5490c22f727d | 71 | |
cr0n0s20 | 0:5490c22f727d | 72 | Servo::operator float() { |
cr0n0s20 | 0:5490c22f727d | 73 | return read(); |
cr0n0s20 | 0:5490c22f727d | 74 | } |