Matthias Grob / Mbed 2 deprecated FlyBed3

Successful acro and level mode now! Relying on MPU9250 as base sensor. I'm working continuously on tuning and features :) NEWEST VERSION ON: https://github.com/MaEtUgR/FlyBed (CODE 100% compatible/copyable)

Dependencies:   mbed

Servo/Servo.cpp@0:37f0c1e8fa66, 2015-09-08 (annotated)

Committer:
maetugr
Date:
Tue Sep 08 13:38:10 2015 +0000
Revision:
0:37f0c1e8fa66
MPU9250 on the new Board works fine over SPI; RC is broken and works with FlyBed2 :(

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 0:37f0c1e8fa66 1 #include "Servo.h"
maetugr 0:37f0c1e8fa66 2 #include "mbed.h"
maetugr 0:37f0c1e8fa66 3
maetugr 0:37f0c1e8fa66 4 Servo::Servo(PinName Pin, int frequency) : ServoPin(Pin) {
maetugr 0:37f0c1e8fa66 5 Enable(1000,1000000/frequency); // low throttle 50Hz TODO: Frequency modify
maetugr 0:37f0c1e8fa66 6 }
maetugr 0:37f0c1e8fa66 7
maetugr 0:37f0c1e8fa66 8 void Servo::SetFrequency(int frequency) {
maetugr 0:37f0c1e8fa66 9 Pulse.detach();
maetugr 0:37f0c1e8fa66 10 Pulse.attach_us(this, &Servo::StartPulse, 1/frequency);
maetugr 0:37f0c1e8fa66 11 }
maetugr 0:37f0c1e8fa66 12
maetugr 0:37f0c1e8fa66 13 void Servo::SetPosition(int Pos) {
maetugr 0:37f0c1e8fa66 14 if (Pos > 1000)
maetugr 0:37f0c1e8fa66 15 Pos = 1000;
maetugr 0:37f0c1e8fa66 16 if (Pos < 0)
maetugr 0:37f0c1e8fa66 17 Pos = 0;
maetugr 0:37f0c1e8fa66 18 Position = Pos+1000;
maetugr 0:37f0c1e8fa66 19 }
maetugr 0:37f0c1e8fa66 20
maetugr 0:37f0c1e8fa66 21 void Servo::StartPulse() {
maetugr 0:37f0c1e8fa66 22 ServoPin = 1;
maetugr 0:37f0c1e8fa66 23 PulseStop.attach_us(this, &Servo::EndPulse, Position);
maetugr 0:37f0c1e8fa66 24 }
maetugr 0:37f0c1e8fa66 25
maetugr 0:37f0c1e8fa66 26 void Servo::EndPulse() {
maetugr 0:37f0c1e8fa66 27 // my change
maetugr 0:37f0c1e8fa66 28 PulseStop.detach();
maetugr 0:37f0c1e8fa66 29 // my change
maetugr 0:37f0c1e8fa66 30 ServoPin = 0;
maetugr 0:37f0c1e8fa66 31 }
maetugr 0:37f0c1e8fa66 32
maetugr 0:37f0c1e8fa66 33 void Servo::Enable(int StartPos, int Period) {
maetugr 0:37f0c1e8fa66 34 Position = StartPos;
maetugr 0:37f0c1e8fa66 35 Pulse.attach_us(this, &Servo::StartPulse, Period);
maetugr 0:37f0c1e8fa66 36 }
maetugr 0:37f0c1e8fa66 37
maetugr 0:37f0c1e8fa66 38 void Servo::Disable() {
maetugr 0:37f0c1e8fa66 39 Pulse.detach();
maetugr 0:37f0c1e8fa66 40 }
maetugr 0:37f0c1e8fa66 41
maetugr 0:37f0c1e8fa66 42 void Servo::operator=(int position) {
maetugr 0:37f0c1e8fa66 43 SetPosition(position);
maetugr 0:37f0c1e8fa66 44 }