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:
2022-02-10
Revision:
10:fe74e8909d3f
Parent:
4:9c003c402033
Child:
16:69911e81dfd4

File content as of revision 10:fe74e8909d3f:

#include "Servo.h"

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

/**
 * Sets the desired position.
 * @Pos desired position in mus (position/period).
 */
void Servo::SetPosition(int Pos)
{
    Position = Pos;
}

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 position and period.
 * @StartPos start position in mus.
 * @Period period in mus.
 */
void Servo::Enable(int StartPos, int Period)
{
    Position = StartPos;
    Pulse.attach(callback(this, &Servo::StartPulse), std::chrono::microseconds{static_cast<long int>(Period)});
}

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