Matthias Grob / Mbed 2 deprecated FlyBed1

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Dependencies:   mbed MODI2C

Servo/Servo.cpp

Committer:
maetugr
Date:
2012-10-15
Revision:
7:9d4313510646
Parent:
1:5a64632b1eb9
Child:
9:4e0c3936c756

File content as of revision 7:9d4313510646:

#include "Servo.h"
#include "mbed.h"

Servo::Servo(PinName Pin) : ServoPin(Pin) {
}

void Servo::initialize() {
    // initialize ESC
    Enable(2000,20000);   // full throttle
    wait(0.01);    // for 0.01 secs
    SetPosition(1000);    // low throttle
}

void Servo::SetPosition(int Pos) {
    Position = Pos;
}

void Servo::StartPulse() {
    ServoPin = 1;
    PulseStop.attach_us(this, &Servo::EndPulse, Position);
}

void Servo::EndPulse() {
    ServoPin = 0;
}

void Servo::Enable(int StartPos, int Period) {
    Position = StartPos;
    Pulse.attach_us(this, &Servo::StartPulse, Period);
}

void Servo::Disable() {
    Pulse.detach();
}

void Servo::operator=(int position) {
    SetPosition(position);
}