Delta Robot example
Dependencies: BufferedSerial Eigen
Fork of TCPSocket_Example by
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?
User | Revision | Line number | New 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 | } |