joshua Elsdon / Mbed OS DeltaRobotFirmware

Delta Robot example

Dependencies:   BufferedSerial Eigen

Fork of TCPSocket_Example by mbed_example

servoAxis.cpp@5:01e1e68309ae, 2018-10-15 (annotated)

Committer:
je310
Date:
Mon Oct 15 18:30:20 2018 +0000
Revision:
5:01e1e68309ae
testing eigen;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
je310 5:01e1e68309ae 1 #include "servoAxis.h"
je310 5:01e1e68309ae 2
je310 5:01e1e68309ae 3 ServoAxis::ServoAxis(PinName pin,float maxAngle_, float minAngle_, float middleUs_, float usPerDeg_){
je310 5:01e1e68309ae 4 maxAngle = maxAngle_;
je310 5:01e1e68309ae 5 minAngle = minAngle_;
je310 5:01e1e68309ae 6 middleUs = middleUs_;
je310 5:01e1e68309ae 7 usPerDeg = usPerDeg_;
je310 5:01e1e68309ae 8 pwm = new PwmOut(pin);
je310 5:01e1e68309ae 9 pwm->period_ms(4);
je310 5:01e1e68309ae 10 pwm->pulsewidth_us(middleUs);
je310 5:01e1e68309ae 11
je310 5:01e1e68309ae 12 }
je310 5:01e1e68309ae 13
je310 5:01e1e68309ae 14
je310 5:01e1e68309ae 15 void ServoAxis::setAngle(float angle){
je310 5:01e1e68309ae 16 if(angle > maxAngle) angle = maxAngle;
je310 5:01e1e68309ae 17 if(angle < minAngle) angle = minAngle;
je310 5:01e1e68309ae 18 pwm->pulsewidth_us(middleUs + angle * usPerDeg);
je310 5:01e1e68309ae 19
je310 5:01e1e68309ae 20 }