Hiroaki Matsuda
/
mbed-for-McuComm
this is program for mbed ,to relay MCUcomm data to servo
command/command.cpp
- Committer:
- matsu
- Date:
- 2012-12-05
- Revision:
- 1:0fe52e356d01
- Parent:
- 0:09bf8e3091e8
File content as of revision 1:0fe52e356d01:
#include "command.h" #include "mbed.h" Command::Command(PinName pin) :Servo(pin) { _power = true; }; void Command::targetPosition(int number ,int receive) { switch(number-3){ case 0: _position = receive<<8; break; case 1: _position += receive; break; case 2: _time = receive<<8; break; case 3: _time += receive; break; } } void Command::homePosition(int number ,int receive) { switch(number-3){ case 0: _position = receive<<8; break; case 1: _position += receive; break; case 2: _homePosition = _position; break; } } int Command::getPosition() { return _position; } int Command::getTime() { return _time; } int Command::getHomeposition() { return _homePosition; } bool Command::getPower() { return _power; } void Command::on() { write(getPosition()/1800); _power = true; } void Command::off() { _pwm.pulsewidth(0); _power = false; } Command& Command::operator= (float percent) { if(getPower() == true) write(percent); return *this; } Command& Command::operator= (Command& rhs) { if(getPower() == true) write(rhs.read()); return *this; }