Diff: ServoMotor.h

Revision:

0:b46b05ed2f27

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ServoMotor.h	Sun Mar 08 03:39:10 2020 +0000
@@ -0,0 +1,33 @@
+#ifndef SERVOMOTOR
+#define SERVOMOTOR
+
+#include "mbed.h"
+
+class SERVO_MOTOR{
+
+    public:
+    SERVO_MOTOR(PinName pin, 
+                double angle0 = 0, double PulseWidth0 = 1200,
+                double angle1 = 180, double PulseWidth1 = 1800);
+    void move(double angle, bool sync = true);
+    void go(double angle);
+    
+    bool tick(void);
+    void set_speed(double speed);
+    double get_angle(void);
+    
+    private:
+    PwmOut _pwm;
+    double _angle0;
+    double _angle1;
+    double _PulseWidth0_us;
+    double _PulseWidth1_us;
+    double _speed;
+    double _angle_command;
+    double _angle_now;
+    double _time;
+    Timer _timer;
+    
+};
+
+#endif
\ No newline at end of file