tarou yamada / servo

Dependents:   serial_connected_mcu_nucleo serial_connected_mcu_nucleo

servo.cpp@5:a4d580b86638, 2016-06-25 (annotated)

Committer:
inst
Date:
Sat Jun 25 09:35:38 2016 +0000
Revision:
5:a4d580b86638
Parent:
4:31ed2ce96ca3 
sec => msec;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
inst 0:54b8292756b8 1 #include "servo.hpp"
inst 0:54b8292756b8 2 #include "mbed.h"
inst 0:54b8292756b8 3
inst 5:a4d580b86638 4 const float servo::_min_position_msec = 0.75f;
inst 5:a4d580b86638 5 const float servo::_max_position_msec = 2.15f;
inst 0:54b8292756b8 6
inst 2:58169cf31b49 7 servo::servo(PinName pin) : _pwm(pin) {
inst 2:58169cf31b49 8 _pwm.period(20.0f * 0.001f);
inst 0:54b8292756b8 9 }
inst 0:54b8292756b8 10
inst 0:54b8292756b8 11 void servo::set_position(float pos) {
inst 3:6cadf3326257 12 if (pos >= 1.0f) {
inst 3:6cadf3326257 13 pos = 1.0f;
inst 3:6cadf3326257 14 } else if (pos <= -1.0f) {
inst 3:6cadf3326257 15 pos = -1.0f;
inst 3:6cadf3326257 16 }
inst 3:6cadf3326257 17 pos += 1.0f;
inst 3:6cadf3326257 18 pos *= 0.5f;
inst 5:a4d580b86638 19
inst 5:a4d580b86638 20 float msec = (1.0f - pos) * _min_position_msec + pos * _max_position_msec;
inst 5:a4d580b86638 21 _pwm.pulsewidth(msec * 0.001f);
inst 0:54b8292756b8 22 }