Diff: Servo.cpp

Revision:

20:ea222b81350e

Parent:

19:518ed284d98b

Child:

21:45d903d986f6

--- a/Servo.cpp	Tue Mar 22 08:35:07 2022 +0000
+++ b/Servo.cpp	Tue Mar 22 09:43:13 2022 +0000
@@ -3,7 +3,12 @@
 const float Servo::MIN_INPUT = 0.01f;
 const float Servo::MAX_INPUT = 0.99f;
 
-Servo::Servo(PinName Pin) : ServoPin(Pin) {}
+Servo::Servo(PinName Pin) : ServoPin(Pin)
+{
+    servoEnabled = false;
+    Position = 0;
+    Period = 0;
+}
 
 /**
  * Sets the desired angle.
@@ -11,9 +16,11 @@
  */
 void Servo::SetPosition(float _Input)
 {
-    if (_Input < MIN_INPUT) _Input = MIN_INPUT;
-    if (_Input > MAX_INPUT) _Input = MAX_INPUT;
-    Position = static_cast<int>(_Input * static_cast<float>(Period));
+    if (servoEnabled) {
+        if (_Input < MIN_INPUT) _Input = MIN_INPUT;
+        if (_Input > MAX_INPUT) _Input = MAX_INPUT;
+        Position = static_cast<int>(_Input * static_cast<float>(Period));
+    }
 }
 
 void Servo::StartPulse()
@@ -34,6 +41,7 @@
  */
 void Servo::Enable(float _StartInput, int _Period)
 {
+    servoEnabled = true;
     if (_StartInput < MIN_INPUT) _StartInput = MIN_INPUT;
     if (_StartInput > MAX_INPUT) _StartInput = MAX_INPUT;
     Period = _Period;
@@ -46,5 +54,15 @@
  */
 void Servo::Disable()
 {
+    servoEnabled = false;
     Pulse.detach();
+}
+
+/**
+ * Returns true if Servo is enabled.
+ * @return isEnable.
+ */
+bool Servo::isEnabled()
+{
+    return servoEnabled;
 }
\ No newline at end of file