File content as of revision 1:8343f1715462:

/* UniServ Servo Library
* Copyright (c) 2010 Matt Parsons
*
* 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.
*/
 
 
/** Default metoda za servo motor C90
* @code
* #include "mbed.h"
* #include "UniServ.h"
*
* t.start();
* sMotor.write_us(2000);
* t.stop();
* pc.printf("%f\n\r", t.read());
* wait_ms(1000);
* t.reset();
* t.start();
* sMotor.write_us(0);
* t.stop();
* pc.printf("%f\n\r", t.read());
* wait_ms(1000);
* t.reset();
* t.start();
* sMotor.write_us(3000);
* t.stop();
* pc.printf("%f\n\r", t.read());
* wait_ms(1000);
* t.reset();
* t.start();
* sMotor.write_us(1000);
* t.stop();
* pc.printf("%f\n\r", t.read());
* wait_ms(1000);
* sMotor.Disable();
*
* Dodao metodu Disable() zbog toga da se oslobodi
* cpu dok se ne izvrši slijedeća operacija
* @endcode
*/
 
#include "mbed.h"
#include "UniServ.h"

UniServ::UniServ(PinName pin) : ServPin(pin){
    Period=20000;
    Position=1500;
    ServMin=400;
    ServMax=2600;

  Pulse.attach_us(this,&UniServ::SigStart,Period);
 }

void UniServ::SigStart(){
    ServPin=1;
    PulseEnd.attach_us(this,&UniServ::SigStop,Position);   
 }

void UniServ::SigStop(){
    ServPin=0;
 }

void UniServ::write_us(int PosIn){
    Position=PosIn;
    if(PosIn<ServMin){Position=ServMin;}
    if(PosIn>ServMax){Position=ServMax;}
 }
 
 int UniServ::read_us(){
    return Position;
 }
 void UniServ::Disable() {
    Pulse.detach();
 }