Hiroaki Matsuda / Servo

to move servo

Dependents:   mbed-for-McuComm RTOS_Controller RTOS_Controller_v2 RTOS_Controller_v3 ... more

Diff: Servo.cpp

Revision:
4:80a784fc179c
Parent:
2:8995c167f399
--- a/Servo.cpp	Thu Sep 02 17:34:43 2010 +0000
+++ b/Servo.cpp	Wed Nov 28 10:41:04 2012 +0000
@@ -39,6 +39,7 @@
     write(0.5);
 }
 
+// _range = 0.0005
 void Servo::write(float percent) {
     float offset = _range * 2.0 * (percent - 0.5);
     _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range));
@@ -48,6 +49,8 @@
 void Servo::position(float degrees) {
     float offset = _range * (degrees / _degrees);
     _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range));
+    _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range));
+    _pwm.pulsewidth(0);
 }
 
 void Servo::calibrate(float range, float degrees) {
@@ -55,6 +58,7 @@
     _degrees = degrees;
 }
 
+
 float Servo::read() {
     return _p;
 }