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

Committer:
pmic
Date:
2022-03-21
Revision:
16:69911e81dfd4
Parent:
10:fe74e8909d3f
Child:
18:21c0a669d6ef

File content as of revision 16:69911e81dfd4:

#include "Servo.h"

Servo::Servo(PinName Pin) : ServoPin(Pin) {}

/**
 * Sets the desired angle.
 * @_Input a value between 0...1.
 */
void Servo::SetPosition(float _Input)
{
    Position = static_cast<int>(_Input * static_cast<float>(Period));
}

void Servo::StartPulse()
{
    ServoPin = 1;
    PulseStop.attach(callback(this, &Servo::EndPulse), std::chrono::microseconds{static_cast<long int>(Position)});
}

void Servo::EndPulse()
{
    ServoPin = 0;
}

/**
 * Enables the servo with start angle and period.
 * @_StartInput a value between 0...1.
 * @_Period period in mus.
 */
void Servo::Enable(float _StartInput, int _Period)
{
    Period = _Period;
    Position = static_cast<int>(_StartInput * static_cast<float>(Period));
    Pulse.attach(callback(this, &Servo::StartPulse), std::chrono::microseconds{static_cast<long int>(Period)});
}

/**
 * Disables the servo.
 */
void Servo::Disable()
{
    Pulse.detach();
}