tarou yamada
I2CServo.h@2:0f03a5729afc, 2015-10-14 (annotated)
- Committer:
- inst
- Date:
- Wed Oct 14 03:50:40 2015 +0000
- Revision:
- 2:0f03a5729afc
- Parent:
- 1:e06cf312e9f0
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| inst | 0:d4e07340fb0e | 1 | #ifndef INCLUDED_I2C_SERVO_H |
| inst | 0:d4e07340fb0e | 2 | #define INCLUDED_I2C_SERVO_H |
| inst | 0:d4e07340fb0e | 3 | |
| inst | 0:d4e07340fb0e | 4 | #include "mbed.h" |
| inst | 0:d4e07340fb0e | 5 | #include "I2CDevice.h" |
| inst | 0:d4e07340fb0e | 6 | |
| inst | 0:d4e07340fb0e | 7 | class I2CServo : public I2CDevice{ |
| inst | 0:d4e07340fb0e | 8 | public: |
| inst | 2:0f03a5729afc | 9 | I2CServo( char address ); |
| inst | 0:d4e07340fb0e | 10 | |
| inst | 2:0f03a5729afc | 11 | void setTargetPosition( float p ); |
| inst | 0:d4e07340fb0e | 12 | |
| inst | 2:0f03a5729afc | 13 | bool hasStopped(){ |
| inst | 2:0f03a5729afc | 14 | return mHasStopped; |
| inst | 1:e06cf312e9f0 | 15 | } |
| inst | 1:e06cf312e9f0 | 16 | float getPosition(){ |
| inst | 1:e06cf312e9f0 | 17 | return mPosition; |
| inst | 1:e06cf312e9f0 | 18 | } |
| inst | 1:e06cf312e9f0 | 19 | |
| inst | 2:0f03a5729afc | 20 | void stop(){ |
| inst | 2:0f03a5729afc | 21 | mTargetPosition = mPosition; |
| inst | 2:0f03a5729afc | 22 | mHasStopped = true; |
| inst | 2:0f03a5729afc | 23 | } |
| inst | 2:0f03a5729afc | 24 | |
| inst | 2:0f03a5729afc | 25 | virtual int write(); |
| inst | 2:0f03a5729afc | 26 | virtual int read(); |
| inst | 1:e06cf312e9f0 | 27 | |
| inst | 0:d4e07340fb0e | 28 | private: |
| inst | 2:0f03a5729afc | 29 | static const float mAllowableError; |
| inst | 1:e06cf312e9f0 | 30 | float mTargetPosition; |
| inst | 2:0f03a5729afc | 31 | bool mHasStopped; |
| inst | 1:e06cf312e9f0 | 32 | float mPosition; |
| inst | 0:d4e07340fb0e | 33 | }; |
| inst | 0:d4e07340fb0e | 34 | |
| inst | 0:d4e07340fb0e | 35 | #endif |