Diff: actuator/Servomotor.hpp

Revision:

2:e7b09385d197

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actuator/Servomotor.hpp	Sun Mar 27 04:39:16 2022 +0000
@@ -0,0 +1,27 @@
+#pragma once
+#include<mbed.h>
+#include<PwmOut.h>
+#include<portSet.hpp>
+
+/*パルスの単位はusでよろ*/
+/*
+       | range degree | pulse cycle | min pulse | max pulse |
+DS3218 |180(270もある) |    20000    |   500     |    2500   |
+SG90   |      180     |    20000    |   1000    |    2000   |
+*/
+class servo
+{
+public:
+    servo(PinName signal,unsigned int range_degree,unsigned int pulse_cycle,unsigned int min_pulse,unsigned int max_pulse);
+    void Setangle(unsigned int tar_angle);
+    void Addangle(int tar_angle);
+    float pulsese;
+private:    
+    PinName signal_;
+    unsigned int range_degree_;
+    unsigned int pulse_cycle_;
+    unsigned int min_pulse_;
+    unsigned int max_pulse_;
+    unsigned int now_angle_;
+    double pdp;/*pulse per degree*/
+};
\ No newline at end of file