Diff: YMotorDriverServo.h

Revision:

2:16e29a3a8f58

Parent:

1:d1ca02f9536c

diff -r d1ca02f9536c -r 16e29a3a8f58 YMotorDriverServo.h
--- a/YMotorDriverServo.h	Sun Aug 30 23:26:12 2015 +0000
+++ b/YMotorDriverServo.h	Wed Oct 14 06:04:45 2015 +0000
@@ -10,19 +10,41 @@
     YMotorDriverServo( char address, int id );
     ~YMotorDriverServo();
     
+protected:
+    void stop(){
+        mTargetPosition = mPosition;
+    }
+    void setTargetPosition( float p ){
+        if ( p < 0.0f ){
+            p = 0.0f;
+        } else if ( p > 1.0f ){
+            p = 1.0f;
+        }
+        mTargetPosition = ( mServoRangeMax[ mID ] - mServoRangeMin[ mID ] ) * p + mServoRangeMin[ mID ];
+    }
+    float getPosition(){
+        return mPosition;
+    }
+    float getTargetPosition(){
+        return mTargetPosition;
+    }
+    
 private:
     virtual void updateSpecial();
     virtual void updateI2CSlave();
     virtual void control( float c );
+    virtual void updateServoSpecial(){}
 
-    static const float mAllowableError;
+    static const float mAllowableError[];
     static const PinName mAnalogInPinName;
-    static const float mLowPassFilterCoeff;
+    static const float mLowPassFilterCoeff[];
     static const float mPCoeff[];
     static const float mICoeff[];
     static const float mDCoeff[];
-    static const float mServoMaxDuty;
-    static const float mServoMinDuty;
+    static const float mServoMaxDuty[];
+    static const float mServoMinDuty[];
+    static const float mServoRangeMin[];
+    static const float mServoRangeMax[];
     
     AnalogIn* mAnalogIn;
     float mPosition;