Revision 0:d6371727ce0c, committed 2018-03-02

Comitter:

jdonnal

Date:

Fri Mar 02 16:51:35 2018 +0000

Commit message:

Initial Commit

Changed in this revision

diff -r 000000000000 -r d6371727ce0c ContinuousServo.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ContinuousServo.cpp	Fri Mar 02 16:51:35 2018 +0000
@@ -0,0 +1,20 @@
+#include "ContinuousServo.h"
+ 
+ //64 counts per rev
+ 
+ContinuousServo::ContinuousServo(PinName output): servo_(output){
+    servo_.period_ms(50);
+}
+
+void ContinuousServo::speed(float val){
+    //convert val from -1,1 to 1.3 to 1.7
+    if(val<-1.0)
+        val = -1.0;
+    if(val>1.0)
+        val = 1.0;
+    servo_.pulsewidth_us((int)(1500+200*val));
+}
+
+void ContinuousServo::stop(){
+    servo_.pulsewidth_us(0);
+}
\ No newline at end of file

diff -r 000000000000 -r d6371727ce0c ContinuousServo.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ContinuousServo.h	Fri Mar 02 16:51:35 2018 +0000
@@ -0,0 +1,39 @@
+
+/* Parallax High Speed Continuous Servo
+   John Donnal 2018
+*/
+
+#ifndef CONTINUOUS_SERVO_H
+#define CONTINUOUS_SERVO_H
+
+/**
+ * Includes
+ */
+#include "mbed.h"
+
+/**
+ * Parallax High Speed Continuous Servo Interface.
+ */
+class ContinuousServo {
+
+public:
+
+    /**
+     * Constructor.
+     *
+     * Drive Parallax servo (ActivityBot)
+     * -1: full speed reverse
+     *  0: stop
+     *  1: full speed forward
+     * @param output mbed pin for output channel.
+     */
+    ContinuousServo(PinName output);
+
+    void speed(float val);
+    void stop(void);
+private:
+
+    PwmOut servo_;
+};
+
+#endif /* CONTINUOUS_SERVO_H */