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

diff -r 000000000000 -r 41758331f8d1 servo.cpp
--- /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();
+}

diff -r 000000000000 -r 41758331f8d1 servo.h
--- /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