joshua Elsdon / Mbed OS DeltaRobotFirmware

Delta Robot example

Dependencies:   BufferedSerial Eigen

Fork of TCPSocket_Example by mbed_example

servoAxis.cpp

Committer:
je310
Date:
2018-10-15
Revision:
5:01e1e68309ae

File content as of revision 5:01e1e68309ae:

#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);
        
        }