tarou yamada / servo

Dependents:   serial_connected_mcu_nucleo serial_connected_mcu_nucleo

Files at this revision

API Documentation at this revision

Revision 5:a4d580b86638, committed 2016-06-25

Comitter:
inst
Date:
Sat Jun 25 09:35:38 2016 +0000
Parent:
4:31ed2ce96ca3
Commit message:
sec => msec;

Changed in this revision

servo.cpp Show annotated file Show diff for this revision Revisions of this file
servo.hpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 31ed2ce96ca3 -r a4d580b86638 servo.cpp
--- 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);
 }

diff -r 31ed2ce96ca3 -r a4d580b86638 servo.hpp
--- a/servo.hpp	Sat Jun 25 09:16:14 2016 +0000
+++ b/servo.hpp	Sat Jun 25 09:35:38 2016 +0000
@@ -9,9 +9,11 @@
     void set_position(float pos);
 
 private:
-    static const float _min_position_sec;
-    static const float _max_position_sec;
+    static const float _min_position_msec;
+    static const float _max_position_msec;
     PwmOut _pwm;
 };
 
+//#include "servo_impl.hpp"
+
 #endif