simplify for single SG90
Fork of SG90 by
Revision 1:93e46a70966f, committed 2018-06-18
- Comitter:
- oldmon
- Date:
- Mon Jun 18 12:02:48 2018 +0000
- Parent:
- 0:a62b163b1dbb
- Commit message:
- SG90 simpllfy
Changed in this revision
SG90.cpp | Show annotated file Show diff for this revision Revisions of this file |
SG90.h | Show annotated file Show diff for this revision Revisions of this file |
diff -r a62b163b1dbb -r 93e46a70966f SG90.cpp --- a/SG90.cpp Sat Apr 05 07:56:43 2014 +0000 +++ b/SG90.cpp Mon Jun 18 12:02:48 2018 +0000 @@ -1,114 +1,15 @@ -#include "mbed.h" #include "SG90.h" - -//Initialize the position variables to neutral - -servo::servo() : pwm1(PTA5), pwm2(PTA12), pwm3(PTA4), pwm4(PTA5) - { - - init(); - } - - - -void servo::init() //Initialize all servo pwm's to a periode of 20ms - { - s1=s2=s3=s4=1400; //Initialize the position variables to neutral - pwm1.period_ms(20); - pwm1.pulsewidth_us(s1); - pwm2.period_ms(20); - pwm2.pulsewidth_us(s2); - pwm3.period_ms(20); - pwm3.pulsewidth_us(s3); - pwm4.period_ms(20); - pwm4.pulsewidth_us(s4); - } - -void servo::right(int a) //Lower the pulsewidth to make the servo turn clockwise - { - switch (a) - { - case 1: - if (s1 >= 540) s1 = (s1 - 20); - pwm1.pulsewidth_us(s1); - break; - - case 2: - if (s2 >= 540)s2 =s2 -20; - pwm2.pulsewidth_us(s2); - break; - - case 3: - if (s3 >= 540)s3 = s3 -20; - pwm3.pulsewidth_us(s3); - break; - - case 4: - if (s4 >= 540)s4 = s4 -20; - pwm4.pulsewidth_us(s4); - break; - - default : - break; - } - } - -void servo::left(int a) //Raise the pulsewidth to make the servo turn counter clockwise - { - switch (a) - { - case 1: - if (s1 <=2300) s1 = s1 + 20; - pwm1.pulsewidth_us(s1); - break; - - case 2: - if (s2 <=2300)s2 =s2 +20; - pwm2.pulsewidth_us(s2); - break; - - case 3: - if (s2 <=2300)s3 = s3 +20; - pwm3.pulsewidth_us(s3); - break; - - case 4: - if (s2 <=2300)s4 = s4 +20; - pwm4.pulsewidth_us(s4); - break; - - default : - break; - } - } -void servo::position(int a, int p) //Position control of the servor, a is the servo and p is the position in degrees - { - int pw; - pw = 500 + (p*10); - switch (a) - { - case 1: - pwm1.pulsewidth_us(pw); - break; - - case 2: - - pwm2.pulsewidth_us(pw); - break; - - case 3: - - pwm3.pulsewidth_us(pw); - break; - - case 4: - - pwm4.pulsewidth_us(pw); - break; - - default : - break; - } - - } +SG90::SG90(PinName pwmPin):PwmOut(pwmPin){ + iPreRotate=1450; + period_ms(20);// 50Hz to trigger SG90 + pulsewidth_us(iPreRotate); //500:90 1450:0 2400:-90 +} +void SG90::SetAngle(float fAngle){ + if (fAngle>90.0f) + fAngle=90.0f; + else if(fAngle<-90.0f) + fAngle=-90.0f; + int iRotate=(-(fAngle-90.0f)*950.0f/90.0f)+500.0f; + pulsewidth_us(iRotate); +} \ No newline at end of file
diff -r a62b163b1dbb -r 93e46a70966f SG90.h --- a/SG90.h Sat Apr 05 07:56:43 2014 +0000 +++ b/SG90.h Mon Jun 18 12:02:48 2018 +0000 @@ -1,24 +1,12 @@ #ifndef SG90_H #define SG90_H #include "mbed.h" -#include "PwmOut.h" -class servo { - +class SG90:public PwmOut{ public: - -PwmOut pwm1, pwm2, pwm3, pwm4; -servo(); - - -void init(); -void right(int); -void left(int); -void position(int, int); - -int s1, s2, s3, s4; - - - + SG90(PinName pwnPin); + void SetAngle(float fAngle); +private: + int iPreRotate; }; -#endif \ No newline at end of file +#endif