Diff: I2CServo.h

Revision:

2:0f03a5729afc

Parent:

1:e06cf312e9f0

--- a/I2CServo.h	Fri Aug 21 04:51:40 2015 +0000
+++ b/I2CServo.h	Wed Oct 14 03:50:40 2015 +0000
@@ -6,41 +6,30 @@
 
 class I2CServo : public I2CDevice{
 public:
-    I2CServo( char address, int id );
+    I2CServo( char address );
     
-    void setTargetPosition( float p ){
-        if ( p < 0.0f ){
-            p = 0.0f;
-        } else if ( p > 1.0f ){
-            p = 1.0f;
-        }
-        
-        if ( p != mTargetPosition ){
-            mIsStop = false;
-        }
-        
-        mTargetPosition = p;
-    }
+    void setTargetPosition( float p );
     
-    bool isStop(){
-        return mIsStop;
+    bool hasStopped(){
+        return mHasStopped;
     }
     float getPosition(){
         return mPosition;
     }
     
-    virtual void write();
-    virtual void read();
+    void stop(){
+        mTargetPosition = mPosition;
+        mHasStopped = true;
+    }
+    
+    virtual int write();
+    virtual int read();
     
 private:
+    static const float mAllowableError;
     float mTargetPosition;
-    bool mIsStop;
+    bool mHasStopped;
     float mPosition;
-    
-    int mID;
-    
-    static const float mRangeMax[];
-    static const float mRangeMin[];
 };
 
 #endif
\ No newline at end of file