Dependents: serial_connected_mcu_nucleo serial_connected_mcu_nucleo
Diff: servo.cpp
- Revision:
- 5:a4d580b86638
- Parent:
- 4:31ed2ce96ca3
--- a/servo.cpp Sat Jun 25 09:16:14 2016 +0000 +++ b/servo.cpp Sat Jun 25 09:35:38 2016 +0000 @@ -1,8 +1,8 @@ #include "servo.hpp" #include "mbed.h" -const float servo::_min_position_sec = 0.85f * 0.001f; -const float servo::_max_position_sec = 2.15f * 0.001f; +const float servo::_min_position_msec = 0.75f; +const float servo::_max_position_msec = 2.15f; servo::servo(PinName pin) : _pwm(pin) { _pwm.period(20.0f * 0.001f); @@ -16,5 +16,7 @@ } pos += 1.0f; pos *= 0.5f; - _pwm.pulsewidth((1.0f - pos) * _min_position_sec + pos * _max_position_sec); + + float msec = (1.0f - pos) * _min_position_msec + pos * _max_position_msec; + _pwm.pulsewidth(msec * 0.001f); }