Mathias Lyngklip
/
SG90
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Revision 0:a62b163b1dbb, committed 2014-04-05
- Comitter:
- iLyngklip
- Date:
- Sat Apr 05 07:56:43 2014 +0000
- Commit message:
- dillerdasker
Changed in this revision
| SG90.cpp | Show annotated file Show diff for this revision Revisions of this file |
| SG90.h | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/SG90.cpp Sat Apr 05 07:56:43 2014 +0000
@@ -0,0 +1,114 @@
+#include "mbed.h"
+#include "SG90.h"
+
+
+//Initialize the position variables to neutral
+
+servo::servo() : pwm1(PTA5), pwm2(PTA12), pwm3(PTA4), pwm4(PTA5)
+ {
+
+ init();
+ }
+
+
+
+void servo::init() //Initialize all servo pwm's to a periode of 20ms
+ {
+ s1=s2=s3=s4=1400; //Initialize the position variables to neutral
+ pwm1.period_ms(20);
+ pwm1.pulsewidth_us(s1);
+ pwm2.period_ms(20);
+ pwm2.pulsewidth_us(s2);
+ pwm3.period_ms(20);
+ pwm3.pulsewidth_us(s3);
+ pwm4.period_ms(20);
+ pwm4.pulsewidth_us(s4);
+ }
+
+void servo::right(int a) //Lower the pulsewidth to make the servo turn clockwise
+ {
+ switch (a)
+ {
+ case 1:
+ if (s1 >= 540) s1 = (s1 - 20);
+ pwm1.pulsewidth_us(s1);
+ break;
+
+ case 2:
+ if (s2 >= 540)s2 =s2 -20;
+ pwm2.pulsewidth_us(s2);
+ break;
+
+ case 3:
+ if (s3 >= 540)s3 = s3 -20;
+ pwm3.pulsewidth_us(s3);
+ break;
+
+ case 4:
+ if (s4 >= 540)s4 = s4 -20;
+ pwm4.pulsewidth_us(s4);
+ break;
+
+ default :
+ break;
+ }
+ }
+
+void servo::left(int a) //Raise the pulsewidth to make the servo turn counter clockwise
+ {
+ switch (a)
+ {
+ case 1:
+ if (s1 <=2300) s1 = s1 + 20;
+ pwm1.pulsewidth_us(s1);
+ break;
+
+ case 2:
+ if (s2 <=2300)s2 =s2 +20;
+ pwm2.pulsewidth_us(s2);
+ break;
+
+ case 3:
+ if (s2 <=2300)s3 = s3 +20;
+ pwm3.pulsewidth_us(s3);
+ break;
+
+ case 4:
+ if (s2 <=2300)s4 = s4 +20;
+ pwm4.pulsewidth_us(s4);
+ break;
+
+ default :
+ break;
+ }
+ }
+void servo::position(int a, int p) //Position control of the servor, a is the servo and p is the position in degrees
+ {
+ int pw;
+ pw = 500 + (p*10);
+ switch (a)
+ {
+ case 1:
+ pwm1.pulsewidth_us(pw);
+ break;
+
+ case 2:
+
+ pwm2.pulsewidth_us(pw);
+ break;
+
+ case 3:
+
+ pwm3.pulsewidth_us(pw);
+ break;
+
+ case 4:
+
+ pwm4.pulsewidth_us(pw);
+ break;
+
+ default :
+ break;
+ }
+
+ }
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/SG90.h Sat Apr 05 07:56:43 2014 +0000
@@ -0,0 +1,24 @@
+#ifndef SG90_H
+#define SG90_H
+#include "mbed.h"
+#include "PwmOut.h"
+
+class servo {
+
+public:
+
+PwmOut pwm1, pwm2, pwm3, pwm4;
+servo();
+
+
+void init();
+void right(int);
+void left(int);
+void position(int, int);
+
+int s1, s2, s3, s4;
+
+
+
+};
+#endif
\ No newline at end of file