joshua Elsdon / Mbed OS DeltaRobotFirmware

Delta Robot example

Dependencies:   BufferedSerial Eigen

Fork of TCPSocket_Example by mbed_example

Diff: servoAxis.cpp

Revision:
5:01e1e68309ae
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/servoAxis.cpp	Mon Oct 15 18:30:20 2018 +0000
@@ -0,0 +1,20 @@
+#include "servoAxis.h" 
+
+ServoAxis::ServoAxis(PinName pin,float maxAngle_, float minAngle_, float middleUs_, float usPerDeg_){
+    maxAngle = maxAngle_;
+    minAngle = minAngle_;
+    middleUs = middleUs_;
+    usPerDeg = usPerDeg_;
+    pwm = new PwmOut(pin);
+    pwm->period_ms(4);
+    pwm->pulsewidth_us(middleUs);
+    
+    }
+    
+    
+    void ServoAxis::setAngle(float angle){
+        if(angle > maxAngle) angle = maxAngle;
+        if(angle < minAngle) angle = minAngle;
+        pwm->pulsewidth_us(middleUs + angle * usPerDeg);
+        
+        }
\ No newline at end of file