Ian Krase / PolyServo

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Dependents:   Quadrapod

Diff: PolyServo.h

Revision:
1:1135f0b1566e
Parent:
0:6105cf98b610
Child:
2:f982504e6e84
--- a/PolyServo.h	Fri Jun 26 08:23:05 2015 +0000
+++ b/PolyServo.h	Sat Jun 27 06:03:19 2015 +0000
@@ -2,6 +2,7 @@
 #define POLYSERVO_H
 
 #include "mbed.h"
+#include "FPointer.h"
 #include <vector>
 
 
@@ -15,11 +16,11 @@
     //DigitalOut * servos; 
     
     bool global_enable; 
-    int position[]; 
+    std::vector<int> positions;
     int numservos; 
     
     Polyservo(DigitalOut servo_pins[], int num_pins);
-    void set_position(int pos);
+    void set_position(int s, int pos);
     
     
     
@@ -28,9 +29,13 @@
 private: 
     
     Ticker period_tick; 
-    std::vector<Timeout *> servo_times;
+    std::vector<Timeout *> servo_timers;
     //Timeout * servo_times; 
     
+    uint32_t servo_set(uint32_t);
+    
+    void servos_reset(void);
+