Added max and min calibration
Dependents: HARP_simple HARP HARP_localFileSystemTest Servo_Calibration_Test ... more
Fork of Servo by
Servo.cpp@4:1e75dcbded83, 2012-09-20 (annotated)
- Committer:
- tylerjw
- Date:
- Thu Sep 20 23:49:47 2012 +0000
- Revision:
- 4:1e75dcbded83
- Parent:
- 2:8995c167f399
0.1
;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tylerjw | 4:1e75dcbded83 | 1 | /* mbed R/C Servo Library |
tylerjw | 4:1e75dcbded83 | 2 | * |
tylerjw | 4:1e75dcbded83 | 3 | * Copyright (c) 2007-2010 sford, cstyles |
tylerjw | 4:1e75dcbded83 | 4 | * |
tylerjw | 4:1e75dcbded83 | 5 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
tylerjw | 4:1e75dcbded83 | 6 | * of this software and associated documentation files (the "Software"), to deal |
tylerjw | 4:1e75dcbded83 | 7 | * in the Software without restriction, including without limitation the rights |
tylerjw | 4:1e75dcbded83 | 8 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
tylerjw | 4:1e75dcbded83 | 9 | * copies of the Software, and to permit persons to whom the Software is |
tylerjw | 4:1e75dcbded83 | 10 | * furnished to do so, subject to the following conditions: |
tylerjw | 4:1e75dcbded83 | 11 | * |
tylerjw | 4:1e75dcbded83 | 12 | * The above copyright notice and this permission notice shall be included in |
tylerjw | 4:1e75dcbded83 | 13 | * all copies or substantial portions of the Software. |
tylerjw | 4:1e75dcbded83 | 14 | * |
tylerjw | 4:1e75dcbded83 | 15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
tylerjw | 4:1e75dcbded83 | 16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
tylerjw | 4:1e75dcbded83 | 17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
tylerjw | 4:1e75dcbded83 | 18 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
tylerjw | 4:1e75dcbded83 | 19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
tylerjw | 4:1e75dcbded83 | 20 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
tylerjw | 4:1e75dcbded83 | 21 | * THE SOFTWARE. |
tylerjw | 4:1e75dcbded83 | 22 | */ |
tylerjw | 4:1e75dcbded83 | 23 | |
tylerjw | 4:1e75dcbded83 | 24 | #include "Servo.h" |
tylerjw | 4:1e75dcbded83 | 25 | #include "mbed.h" |
tylerjw | 4:1e75dcbded83 | 26 | |
tylerjw | 4:1e75dcbded83 | 27 | static float clamp(float value, float min, float max) { |
tylerjw | 4:1e75dcbded83 | 28 | if(value < min) { |
tylerjw | 4:1e75dcbded83 | 29 | return min; |
tylerjw | 4:1e75dcbded83 | 30 | } else if(value > max) { |
tylerjw | 4:1e75dcbded83 | 31 | return max; |
tylerjw | 4:1e75dcbded83 | 32 | } else { |
tylerjw | 4:1e75dcbded83 | 33 | return value; |
tylerjw | 4:1e75dcbded83 | 34 | } |
tylerjw | 4:1e75dcbded83 | 35 | } |
tylerjw | 4:1e75dcbded83 | 36 | |
tylerjw | 4:1e75dcbded83 | 37 | Servo::Servo(PinName pin) : _pwm(pin) { |
tylerjw | 4:1e75dcbded83 | 38 | calibrate(); |
tylerjw | 4:1e75dcbded83 | 39 | write(0.5); |
tylerjw | 4:1e75dcbded83 | 40 | } |
tylerjw | 4:1e75dcbded83 | 41 | |
tylerjw | 4:1e75dcbded83 | 42 | void Servo::write(float percent) { |
tylerjw | 4:1e75dcbded83 | 43 | float offset = _range * 2.0 * (percent - 0.5); |
tylerjw | 4:1e75dcbded83 | 44 | _pwm.pulsewidth(0.0015 + clamp(offset, _range_min, _range_max)); |
tylerjw | 4:1e75dcbded83 | 45 | _p = clamp(percent, 0.0, 1.0); |
tylerjw | 4:1e75dcbded83 | 46 | } |
tylerjw | 4:1e75dcbded83 | 47 | |
tylerjw | 4:1e75dcbded83 | 48 | void Servo::position(float degrees) { |
tylerjw | 4:1e75dcbded83 | 49 | float offset = _range * (degrees / _degrees); |
tylerjw | 4:1e75dcbded83 | 50 | _pwm.pulsewidth(0.0015 + clamp(offset, _range_min, _range_max)); |
tylerjw | 4:1e75dcbded83 | 51 | } |
tylerjw | 4:1e75dcbded83 | 52 | |
tylerjw | 4:1e75dcbded83 | 53 | void Servo::calibrate(float range, float degrees) { |
tylerjw | 4:1e75dcbded83 | 54 | _range_max = range; |
tylerjw | 4:1e75dcbded83 | 55 | _range_min = -range; |
tylerjw | 4:1e75dcbded83 | 56 | _range = (_range_max + -_range_min) / 2.0; |
tylerjw | 4:1e75dcbded83 | 57 | _degrees = degrees; |
tylerjw | 4:1e75dcbded83 | 58 | } |
tylerjw | 4:1e75dcbded83 | 59 | |
tylerjw | 4:1e75dcbded83 | 60 | void Servo::calibrate_min(float min, float degrees) { |
tylerjw | 4:1e75dcbded83 | 61 | _range_min = min; |
tylerjw | 4:1e75dcbded83 | 62 | _range = (_range_max + -_range_min) / 2.0; |
tylerjw | 4:1e75dcbded83 | 63 | _degrees = degrees; |
tylerjw | 4:1e75dcbded83 | 64 | } |
tylerjw | 4:1e75dcbded83 | 65 | |
tylerjw | 4:1e75dcbded83 | 66 | void Servo::calibrate_max(float max, float degrees) { |
tylerjw | 4:1e75dcbded83 | 67 | _range_max = max; |
tylerjw | 4:1e75dcbded83 | 68 | _range = (_range_max + -_range_min) / 2.0; |
tylerjw | 4:1e75dcbded83 | 69 | _degrees = degrees; |
tylerjw | 4:1e75dcbded83 | 70 | } |
tylerjw | 4:1e75dcbded83 | 71 | |
tylerjw | 4:1e75dcbded83 | 72 | float Servo::read() { |
tylerjw | 4:1e75dcbded83 | 73 | return _p; |
tylerjw | 4:1e75dcbded83 | 74 | } |
tylerjw | 4:1e75dcbded83 | 75 | |
tylerjw | 4:1e75dcbded83 | 76 | Servo& Servo::operator= (float percent) { |
tylerjw | 4:1e75dcbded83 | 77 | write(percent); |
tylerjw | 4:1e75dcbded83 | 78 | return *this; |
tylerjw | 4:1e75dcbded83 | 79 | } |
tylerjw | 4:1e75dcbded83 | 80 | |
tylerjw | 4:1e75dcbded83 | 81 | Servo& Servo::operator= (Servo& rhs) { |
tylerjw | 4:1e75dcbded83 | 82 | write(rhs.read()); |
tylerjw | 4:1e75dcbded83 | 83 | return *this; |
tylerjw | 4:1e75dcbded83 | 84 | } |
tylerjw | 4:1e75dcbded83 | 85 | |
tylerjw | 4:1e75dcbded83 | 86 | Servo::operator float() { |
tylerjw | 4:1e75dcbded83 | 87 | return read(); |
tylerjw | 4:1e75dcbded83 | 88 | } |