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servo_api.cpp
00001 // 0~180 angle 1~2ms 00002 #include "mbed.h" 00003 #include "servo_api.h" 00004 #define right_end 0.054 //90 00005 #define left_end 0.025 //-90 00006 00007 //memory opt 00008 // 5 degree seperate 00009 BX_servo::BX_servo(void) 00010 { 00011 angle = 0; 00012 servo_in= new PwmOut(PTB0); 00013 servo_in->period_ms(20); 00014 } 00015 00016 float BX_servo::set_angle(float a) 00017 { 00018 00019 if( a<left_end ) 00020 a=left_end; 00021 else if(a>right_end) 00022 a=right_end; 00023 angle=a; 00024 *servo_in=angle; 00025 00026 return angle; 00027 }
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