Description
Fork of Servo by
Diff: Servo.cpp
- Revision:
- 4:2176f8595b34
- Parent:
- 2:8995c167f399
--- a/Servo.cpp Thu Sep 02 17:34:43 2010 +0000 +++ b/Servo.cpp Fri Oct 12 16:41:39 2012 +0000 @@ -1,74 +1,74 @@ -/* mbed R/C Servo Library - * - * Copyright (c) 2007-2010 sford, cstyles - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#include "Servo.h" -#include "mbed.h" - -static float clamp(float value, float min, float max) { - if(value < min) { - return min; - } else if(value > max) { - return max; - } else { - return value; - } -} - -Servo::Servo(PinName pin) : _pwm(pin) { - calibrate(); - write(0.5); -} - -void Servo::write(float percent) { - float offset = _range * 2.0 * (percent - 0.5); - _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range)); - _p = clamp(percent, 0.0, 1.0); -} - -void Servo::position(float degrees) { - float offset = _range * (degrees / _degrees); - _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range)); -} - -void Servo::calibrate(float range, float degrees) { - _range = range; - _degrees = degrees; -} - -float Servo::read() { - return _p; -} - -Servo& Servo::operator= (float percent) { - write(percent); - return *this; -} - -Servo& Servo::operator= (Servo& rhs) { - write(rhs.read()); - return *this; -} - -Servo::operator float() { - return read(); -} +/* mbed R/C Servo Library + * + * Copyright (c) 2007-2010 sford, cstyles + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "Servo.h" +#include "mbed.h" + +static float clamp(float value, float min, float max) { + if(value < min) { + return min; + } else if(value > max) { + return max; + } else { + return value; + } +} + +Servo::Servo(PinName pin) : _pwm(pin) { + calibrate(); + write(0.5); +} + +void Servo::write(float percent) { + float offset = _range * 2.0 * (percent - 0.5); + _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range)); + _p = clamp(percent, 0.0, 1.0); +} + +void Servo::position(float degrees) { + float offset = _range * (degrees / _degrees); + _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range)); +} + +void Servo::calibrate(float range, float degrees) { + _range = range; + _degrees = degrees; +} + +float Servo::read() { + return _p; +} + +Servo& Servo::operator= (float percent) { + write(percent); + return *this; +} + +Servo& Servo::operator= (Servo& rhs) { + write(rhs.read()); + return *this; +} + +Servo::operator float() { + return read(); +}