File content as of revision 2:466f005a4dd5:

#include "Servo.h"
#include "mbed.h"

    Servo::Servo(PinName Pin) : ServoPin(Pin) {}
    
int Servo:: SpeedConvert (int _speed) {
    
    if (_speed > 50)
            _speed = 50;
    else if (_speed < 1)
            _speed =1;
    speed = 10000/_speed;       
    return speed;
    
    }   

 void Servo::SetPosition(int Pos) {           //go to position 
        NewPosition = Pos;
    }
    
void Servo::Update()
{


    if(NewPosition != CurrentPosition) {
        
        if(NewPosition > CurrentPosition) {
            CurrentPosition++;
            Position =  CurrentPosition;
            
        }
         else  {
            CurrentPosition--;
            Position = CurrentPosition;
        }
    }
    Position = CurrentPosition;

}
         

    void Servo::StartPulse() {
        ServoPin = 1;
        
        PulseStop.attach_us(this, &Servo::EndPulse, Position);
    }

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

    void Servo::Enable(int StartPos, int RefreshRate, int _speed) {
        SpeedConvert(_speed);
        Period = (1000000/RefreshRate);                            //converts from HZ to period in  us 
        Position = StartPos;
        CurrentPosition = StartPos;                              //sets CurrentPosition to  StartPos value 
        Pulse.attach_us(this, &Servo::StartPulse, Period);       //starts servo period Ticker r
        Speed.attach_us(this, &Servo::Update, speed);            //starts servo Speed Ticker  speed of servo update pulse width steps in  us,    slow =100000 100ms per step
    }

    void Servo::Disable() {         //turns off Ticker Pulse 
        Pulse.detach();
    }