ケンタ ミヤザキ / PwmSpeedServo

pwm speed servo

Servo.cpp@0:80c1c369a6f4, 2019-02-15 (annotated)

Committer:
kenken0721
Date:
Fri Feb 15 08:12:50 2019 +0000
Revision:
0:80c1c369a6f4
servo speed; ;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kenken0721 0:80c1c369a6f4 1 #include "Servo.h"
kenken0721 0:80c1c369a6f4 2 #include "mbed.h"
kenken0721 0:80c1c369a6f4 3
kenken0721 0:80c1c369a6f4 4 Servo::Servo(PinName Pin) : ServoPin(Pin) {}
kenken0721 0:80c1c369a6f4 5
kenken0721 0:80c1c369a6f4 6 void Servo::init(int pos,float speed){
kenken0721 0:80c1c369a6f4 7 update(speed);
kenken0721 0:80c1c369a6f4 8 currentPosition = pos;
kenken0721 0:80c1c369a6f4 9 newPosition = pos;
kenken0721 0:80c1c369a6f4 10 Speed.attach_us(this, &Servo::move, 5000);
kenken0721 0:80c1c369a6f4 11 }
kenken0721 0:80c1c369a6f4 12
kenken0721 0:80c1c369a6f4 13 void Servo::update(float speed){
kenken0721 0:80c1c369a6f4 14 if(speed <= 0.0){
kenken0721 0:80c1c369a6f4 15 currentPosition = newPosition;
kenken0721 0:80c1c369a6f4 16 }else if(speed > 1.0){
kenken0721 0:80c1c369a6f4 17 speed = 1.0;
kenken0721 0:80c1c369a6f4 18 }
kenken0721 0:80c1c369a6f4 19 _speed = speed * 5;
kenken0721 0:80c1c369a6f4 20 }
kenken0721 0:80c1c369a6f4 21
kenken0721 0:80c1c369a6f4 22 void Servo::move(){
kenken0721 0:80c1c369a6f4 23 float dev = newPosition - currentPosition;
kenken0721 0:80c1c369a6f4 24 if( dev > 0 ){
kenken0721 0:80c1c369a6f4 25 currentPosition += _speed;
kenken0721 0:80c1c369a6f4 26 }else if( dev < 0 ){
kenken0721 0:80c1c369a6f4 27 currentPosition -= _speed;
kenken0721 0:80c1c369a6f4 28 }
kenken0721 0:80c1c369a6f4 29 int pulse = int(currentPosition);
kenken0721 0:80c1c369a6f4 30 ServoPin.pulsewidth_us(pulse);
kenken0721 0:80c1c369a6f4 31 }
kenken0721 0:80c1c369a6f4 32
kenken0721 0:80c1c369a6f4 33 void Servo::setPosition(int pos,float speed){
kenken0721 0:80c1c369a6f4 34 newPosition = pos;
kenken0721 0:80c1c369a6f4 35 update(speed);
kenken0721 0:80c1c369a6f4 36 }