Joseph Bradshaw
Class library for generating hobby servo pulses on any digital output pin
Dependents: mbed_ES200_Tester_SERVOGEN mbed_ES20X_Thread_Test
SERVOGEN library
Library for generating servo pulses using the Ticker class
include the mbed library with this snippet
// SERVOGEN Class test program
// J. Bradshaw 20140925
#include "mbed.h"
#include "SERVOGEN.h"
SERVOGEN servo1(p21);
SERVOGEN servo2(p24);
DigitalOut led1(LED1);
int main() {
servo1.pulse_us = 0;
// spin in a main loop. flipper will interrupt it to call flip
while(1) {
for(float cycle=0.0;cycle<2.0*3.14159;cycle+=.003){
//small amplitude sine wave on servo1
servo1 = 300 * sin(cycle) + 1500;
//ramp up the second servo2 channel relative to cycle
servo2 = 1000 + cycle*159; // .001/(2*PI)
wait(.001); //short delay
}
led1 = !led1; //toggle led1 to indicate activity
}//while(1)
}//main
Diff: SERVOGEN.cpp
- Revision:
- 3:edc18509ff11
- Parent:
- 2:44766ee77ce0
--- a/SERVOGEN.cpp Sun Sep 28 18:57:11 2014 +0000
+++ b/SERVOGEN.cpp Mon Sep 29 16:47:31 2014 +0000
@@ -60,4 +60,26 @@
_sCycle=1;
}
} //pulse != 0 (OFF)
+}
+
+void SERVOGEN::write(int pulse){
+ pulse_us = pulse;
+}
+
+int SERVOGEN::read(){
+ return pulse_us;
+}
+
+SERVOGEN& SERVOGEN::operator= (int pulse_us) {
+ write(pulse_us);
+ return *this;
+}
+
+SERVOGEN& SERVOGEN::operator= (SERVOGEN& rhs) {
+ write(rhs.read());
+ return *this;
+}
+
+SERVOGEN::operator int() {
+ return read();
}
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