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

Diff: Servo.cpp

Revision:
10:fe74e8909d3f
Parent:
4:9c003c402033
Child:
16:69911e81dfd4
--- a/Servo.cpp	Tue Aug 31 15:38:44 2021 +0000
+++ b/Servo.cpp	Thu Feb 10 12:04:36 2022 +0000
@@ -2,6 +2,10 @@
 
 Servo::Servo(PinName Pin) : ServoPin(Pin) {}
 
+/**
+ * Sets the desired position.
+ * @Pos desired position in mus (position/period).
+ */
 void Servo::SetPosition(int Pos)
 {
     Position = Pos;
@@ -10,7 +14,7 @@
 void Servo::StartPulse()
 {
     ServoPin = 1;
-    PulseStop.attach_us(callback(this, &Servo::EndPulse), Position);
+    PulseStop.attach(callback(this, &Servo::EndPulse), std::chrono::microseconds{static_cast<long int>(Position)});
 }
 
 void Servo::EndPulse()
@@ -18,12 +22,20 @@
     ServoPin = 0;
 }
 
+/**
+ * Enables the servo with start position and period.
+ * @StartPos start position in mus.
+ * @Period period in mus.
+ */
 void Servo::Enable(int StartPos, int Period)
 {
     Position = StartPos;
-    Pulse.attach_us(callback(this, &Servo::StartPulse), Period);
+    Pulse.attach(callback(this, &Servo::StartPulse), std::chrono::microseconds{static_cast<long int>(Period)});
 }
 
+/**
+ * Disables the servo.
+ */
 void Servo::Disable()
 {
     Pulse.detach();