first lib
Dependents: 17robo_fuzi 17robo_tokyo_kaede
Revision 0:41758331f8d1, committed 2017-09-24
- Comitter:
- echo_piyo
- Date:
- Sun Sep 24 06:19:24 2017 +0000
- Commit message:
- (??)???????????????
Changed in this revision
servo.cpp | Show annotated file Show diff for this revision Revisions of this file |
servo.h | 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 Sun Sep 24 06:19:24 2017 +0000 @@ -0,0 +1,65 @@ + +#include "servo.h" +#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; + } +} + +void Servo::setRange(float maxrange, float minrange){ + maxRange = maxrange; + minRange = minrange; +} + +void Servo::setMax(){ + write(maxRange); +} + +void Servo::setMin(){ + write(minRange); +} + +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(); +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/servo.h Sun Sep 24 06:19:24 2017 +0000 @@ -0,0 +1,43 @@ +/* + + +*/ + +#ifndef MBED_SERVO_H +#define MBED_SERVO_H +#include "mbed.h" + +class Servo { + +public: + Servo(PinName pin); + void write(float percent); + void setRange(float maxrange, float minrange); + void setMax(); + void setMin(); + float read(); + void position(float degrees); + + /** Allows calibration of the range and angles for a particular servo + * + * @param range Pulsewidth range from center (1.5ms) to maximum/minimum position in seconds + * @param degrees Angle from centre to maximum/minimum position in degrees + */ + //range : 1.5msを中心とした、最大最小までのパルス幅の指定 + //degrees : 中心から最大最小までの角度の指定 + void calibrate(float range = 0.0005, float degrees = 45.0); + + /** Shorthand for the write and read functions */ + Servo& operator= (float percent); + Servo& operator= (Servo& rhs); + operator float(); + +protected: + PwmOut _pwm; + float _range; + float _degrees; + float _p; + float maxRange, minRange; +}; + +#endif