Matthias Grob
/
FlyBed2
My fully self designed first stable working Quadrocopter Software.
Servo/Servo.h
- Committer:
- maetugr
- Date:
- 2014-07-06
- Revision:
- 5:06e978fd147a
File content as of revision 5:06e978fd147a:
// based on http://mbed.org/users/jdenkers/code/Servo/ #ifndef SERVO_H #define SERVO_H #include "mbed.h" /** Class to control a servo on any pin, without using pwm * * Example: * @code * // Keep sweeping servo from left to right * #include "mbed.h" * #include "Servo.h" * * Servo Servo1(p20); * * Servo1.Enable(1500,20000); * * while(1) { * for (int pos = 1000; pos < 2000; pos += 25) { * Servo1.SetPosition(pos); * wait_ms(20); * } * for (int pos = 2000; pos > 1000; pos -= 25) { * Servo1.SetPosition(pos); * wait_ms(20); * } * } * @endcode */ class Servo { public: /** Create a new Servo object on any mbed pin * * @param Pin Pin on mbed to connect servo to */ Servo(PinName Pin, int frequency); void SetFrequency(int frequency); /** Change the position of the servo. Position in us * * @param NewPos The new value of the servos position (us) */ void SetPosition(int NewPos); /** Enable the servo. Without enabling the servo won't be running. Startposition and period both in us. * * @param StartPos The position of the servo to start (us) * @param Period The time between every pulse. 20000 us = 50 Hz(standard) (us) */ void Enable(int StartPos, int Period); //Disable the servo. After disabling the servo won't get any signal anymore void Disable(); //operator for confortable positioning void operator=(int position); private: void StartPulse(); void EndPulse(); int Position; DigitalOut ServoPin; Ticker Pulse; Timeout PulseStop; }; #endif