tarou yamada / servo

Dependents:   serial_connected_mcu_nucleo serial_connected_mcu_nucleo

Diff: servo.cpp

Revision:
1:ffc003a37375
Parent:
0:54b8292756b8
Child:
2:58169cf31b49
diff -r 54b8292756b8 -r ffc003a37375 servo.cpp
--- a/servo.cpp	Fri Feb 26 16:09:01 2016 +0000
+++ b/servo.cpp	Fri Feb 26 16:27:25 2016 +0000
@@ -1,4 +1,5 @@
 #include "servo.hpp"
+#include "mbed_stl.hpp"
 #include "mbed.h"
 
 namespace mbed_stl {
@@ -11,7 +12,7 @@
 }
 
 void servo::set_position(float pos) {
-    pwm.pulsewidth((1.0f - pos) * min_position_sec + pos * max_position_sec);
+    pwm_.pulsewidth(linear_algebra::lerp(pos, min_position_sec_, max_position_sec_));
 }
 
 } /* namespace mbed_stl */