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();
}