Michael Ernst Peter / PM2_Libary

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Dependencies:   LSM9DS1 RangeFinder FastPWM

Dependents:   PM2_Example_PES_board PM2_Example_PES_board PM2_Example_PES_board PM2_Example_PES_board ... more

Servo.cpp@18:21c0a669d6ef, 2022-03-22 (annotated)

Committer:
pmic
Date:
Tue Mar 22 08:33:25 2022 +0000
Revision:
18:21c0a669d6ef
Parent:
16:69911e81dfd4
Child:
19:518ed284d98b
Introduced min and max value for input in Servo class (bugfix)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 0:86129f1b4a93 1 #include "Servo.h"
pmic 4:9c003c402033 2
pmic 18:21c0a669d6ef 3 const float Servo::MIN_INPUT = 0.01f;
pmic 18:21c0a669d6ef 4 const float Servo::MAX_INPUT = 0.99f;
pmic 18:21c0a669d6ef 5
pmic 4:9c003c402033 6 Servo::Servo(PinName Pin) : ServoPin(Pin) {}
pmic 0:86129f1b4a93 7
pmic 10:fe74e8909d3f 8 /**
pmic 16:69911e81dfd4 9 * Sets the desired angle.
pmic 16:69911e81dfd4 10 * @_Input a value between 0...1.
pmic 10:fe74e8909d3f 11 */
pmic 16:69911e81dfd4 12 void Servo::SetPosition(float _Input)
pmic 4:9c003c402033 13 {
pmic 18:21c0a669d6ef 14 if (_Input < MIN_INPUT) _Input = MIN_INPUT;
pmic 18:21c0a669d6ef 15 if (_Input > MAX_INPUT) _Input = MAX_INPUT;
pmic 16:69911e81dfd4 16 Position = static_cast<int>(_Input * static_cast<float>(Period));
pmic 18:21c0a669d6ef 17 printf("Position: %d\r\n", Position);
pmic 4:9c003c402033 18 }
pmic 0:86129f1b4a93 19
pmic 4:9c003c402033 20 void Servo::StartPulse()
pmic 4:9c003c402033 21 {
pmic 4:9c003c402033 22 ServoPin = 1;
pmic 10:fe74e8909d3f 23 PulseStop.attach(callback(this, &Servo::EndPulse), std::chrono::microseconds{static_cast<long int>(Position)});
pmic 4:9c003c402033 24 }
pmic 0:86129f1b4a93 25
pmic 4:9c003c402033 26 void Servo::EndPulse()
pmic 4:9c003c402033 27 {
pmic 4:9c003c402033 28 ServoPin = 0;
pmic 4:9c003c402033 29 }
pmic 0:86129f1b4a93 30
pmic 10:fe74e8909d3f 31 /**
pmic 16:69911e81dfd4 32 * Enables the servo with start angle and period.
pmic 16:69911e81dfd4 33 * @_StartInput a value between 0...1.
pmic 16:69911e81dfd4 34 * @_Period period in mus.
pmic 10:fe74e8909d3f 35 */
pmic 16:69911e81dfd4 36 void Servo::Enable(float _StartInput, int _Period)
pmic 4:9c003c402033 37 {
pmic 18:21c0a669d6ef 38 if (_StartInput < MIN_INPUT) _StartInput = MIN_INPUT;
pmic 18:21c0a669d6ef 39 if (_StartInput > MAX_INPUT) _StartInput = MAX_INPUT;
pmic 16:69911e81dfd4 40 Period = _Period;
pmic 16:69911e81dfd4 41 Position = static_cast<int>(_StartInput * static_cast<float>(Period));
pmic 18:21c0a669d6ef 42 printf("Position: %d\r\n", Position);
pmic 10:fe74e8909d3f 43 Pulse.attach(callback(this, &Servo::StartPulse), std::chrono::microseconds{static_cast<long int>(Period)});
pmic 4:9c003c402033 44 }
pmic 0:86129f1b4a93 45
pmic 10:fe74e8909d3f 46 /**
pmic 10:fe74e8909d3f 47 * Disables the servo.
pmic 10:fe74e8909d3f 48 */
pmic 4:9c003c402033 49 void Servo::Disable()
pmic 4:9c003c402033 50 {
pmic 4:9c003c402033 51 Pulse.detach();
pmic 4:9c003c402033 52 }