Matthias Grob / Mbed 2 deprecated FlyBed2

My fully self designed first stable working Quadrocopter Software.

Dependencies:   mbed

Dependents:   fluy343

/media/uploads/maetugr/dsc09031.jpg

Servo/Servo.cpp@10:14390c90c3f5, 2015-08-31 (annotated)

Committer:
maetugr
Date:
Mon Aug 31 20:20:50 2015 +0000
Revision:
10:14390c90c3f5
Parent:
5:06e978fd147a 
before changing to MPU9250

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 5:06e978fd147a 1 #include "Servo.h"
maetugr 5:06e978fd147a 2 #include "mbed.h"
maetugr 5:06e978fd147a 3
maetugr 5:06e978fd147a 4 Servo::Servo(PinName Pin, int frequency) : ServoPin(Pin) {
maetugr 5:06e978fd147a 5 Enable(1000,1000000/frequency); // low throttle 50Hz TODO: Frequency modify
maetugr 5:06e978fd147a 6 }
maetugr 5:06e978fd147a 7
maetugr 5:06e978fd147a 8 void Servo::SetFrequency(int frequency) {
maetugr 5:06e978fd147a 9 Pulse.detach();
maetugr 5:06e978fd147a 10 Pulse.attach_us(this, &Servo::StartPulse, 1/frequency);
maetugr 5:06e978fd147a 11 }
maetugr 5:06e978fd147a 12
maetugr 5:06e978fd147a 13 void Servo::SetPosition(int Pos) {
maetugr 5:06e978fd147a 14 if (Pos > 1000)
maetugr 5:06e978fd147a 15 Pos = 1000;
maetugr 5:06e978fd147a 16 if (Pos < 0)
maetugr 5:06e978fd147a 17 Pos = 0;
maetugr 5:06e978fd147a 18 Position = Pos+1000;
maetugr 5:06e978fd147a 19 }
maetugr 5:06e978fd147a 20
maetugr 5:06e978fd147a 21 void Servo::StartPulse() {
maetugr 5:06e978fd147a 22 ServoPin = 1;
maetugr 5:06e978fd147a 23 PulseStop.attach_us(this, &Servo::EndPulse, Position);
maetugr 5:06e978fd147a 24 }
maetugr 5:06e978fd147a 25
maetugr 5:06e978fd147a 26 void Servo::EndPulse() {
maetugr 5:06e978fd147a 27 // my change
maetugr 5:06e978fd147a 28 PulseStop.detach();
maetugr 5:06e978fd147a 29 // my change
maetugr 5:06e978fd147a 30 ServoPin = 0;
maetugr 5:06e978fd147a 31 }
maetugr 5:06e978fd147a 32
maetugr 5:06e978fd147a 33 void Servo::Enable(int StartPos, int Period) {
maetugr 5:06e978fd147a 34 Position = StartPos;
maetugr 5:06e978fd147a 35 Pulse.attach_us(this, &Servo::StartPulse, Period);
maetugr 5:06e978fd147a 36 }
maetugr 5:06e978fd147a 37
maetugr 5:06e978fd147a 38 void Servo::Disable() {
maetugr 5:06e978fd147a 39 Pulse.detach();
maetugr 5:06e978fd147a 40 }
maetugr 5:06e978fd147a 41
maetugr 5:06e978fd147a 42 void Servo::operator=(int position) {
maetugr 5:06e978fd147a 43 SetPosition(position);
maetugr 5:06e978fd147a 44 }