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@16:69911e81dfd4, 2022-03-21 (annotated)

Committer:
pmic
Date:
Mon Mar 21 13:47:46 2022 +0000
Revision:
16:69911e81dfd4
Parent:
10:fe74e8909d3f
Child:
18:21c0a669d6ef
Changed Servo class for normilized input.

Who changed what in which revision?

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