command.cpp

00001 #include "command.h"
00002 #include "mbed.h"
00003 
00004 
00005 
00006 
00007 
00008 Command::Command(PinName pin) :Servo(pin)
00009 {
00010     _power = true;
00011 };
00012 
00013 void Command::targetPosition(int number ,int receive)
00014 {
00015     switch(number-3){
00016         case 0:
00017             _position = receive<<8;
00018             break;
00019         case 1:
00020             _position += receive;
00021             break;
00022         case 2:
00023             _time = receive<<8;
00024             break;
00025         case 3:
00026             _time += receive;
00027             break;
00028    }
00029 
00030 }
00031 
00032 void Command::homePosition(int number ,int receive)
00033 {
00034    switch(number-3){
00035         case 0:
00036             _position = receive<<8;
00037             break;
00038         case 1:
00039             _position += receive;
00040             break;
00041         case 2:
00042             _homePosition = _position;
00043             break;
00044    }
00045 }
00046 
00047 
00048 int Command::getPosition()
00049 {
00050     return _position;
00051 }
00052 
00053 int Command::getTime()
00054 {
00055     return _time;
00056 }
00057 
00058 int Command::getHomeposition()
00059 {
00060     return _homePosition;
00061 }
00062 
00063 bool Command::getPower()
00064 {
00065     return _power;
00066 }
00067 
00068 void Command::on()
00069 {
00070     write(getPosition()/1800);
00071     _power = true;
00072 }
00073 
00074 void Command::off()
00075 {
00076     _pwm.pulsewidth(0);
00077     _power = false;
00078 }
00079 
00080 Command& Command::operator= (float percent) {
00081     if(getPower() == true)
00082         write(percent);
00083     return *this;
00084 }
00085 
00086 Command& Command::operator= (Command& rhs) {
00087     if(getPower() == true)
00088         write(rhs.read());
00089     return *this;
00090 }
00091