File content as of revision 22:394337a4205a:

#include<Servomotor.hpp>

servo::servo(PinName signal,unsigned int range_degree,unsigned int pulse_cycle,unsigned int min_pulse,unsigned int max_pulse):signal_(signal),range_degree_(range_degree),pulse_cycle_(pulse_cycle),min_pulse_(min_pulse),max_pulse_(max_pulse)
{
    now_angle_ = 0;
    pdp = (max_pulse - min_pulse)/range_degree;
}

void servo::Setangle(unsigned int tar_angle){
    PwmOut servo(signal_);
    servo.period_us(pulse_cycle_);
    unsigned int tar_angle_ = (tar_angle > range_degree_ ? range_degree_ :tar_angle);
    pulsese = min_pulse_+pdp*tar_angle_;
    servo.pulsewidth_us(pulsese);
    now_angle_ = tar_angle;
}

void servo::Addangle(int tar_angle){
    PwmOut servo(signal_);
    servo.period_us(pulse_cycle_);
    int tar_angle_ = now_angle_ + tar_angle;
    tar_angle_ = (tar_angle_ < 0 ? 0 : tar_angle_ > range_degree_ ? range_degree_ :tar_angle_);
    pulsese = min_pulse_+pdp*tar_angle_;
    servo.pulsewidth_us(pulsese);
    now_angle_ = tar_angle_;
}