yotaro morizumi / Mbed 2 deprecated zoomy_customLibrary

my new gear...

Dependencies:   mbed

actuator/Servomotor.cpp@22:394337a4205a, 22 months ago (annotated)

Committer:
yootee
Date:
Sat Oct 15 07:52:25 2022 +0000
Revision:
22:394337a4205a
Parent:
2:e7b09385d197 
upgrade

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yootee 2:e7b09385d197 1 #include<Servomotor.hpp>
yootee 2:e7b09385d197 2
yootee 2:e7b09385d197 3 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)
yootee 2:e7b09385d197 4 {
yootee 2:e7b09385d197 5 now_angle_ = 0;
yootee 2:e7b09385d197 6 pdp = (max_pulse - min_pulse)/range_degree;
yootee 2:e7b09385d197 7 }
yootee 2:e7b09385d197 8
yootee 2:e7b09385d197 9 void servo::Setangle(unsigned int tar_angle){
yootee 2:e7b09385d197 10 PwmOut servo(signal_);
yootee 2:e7b09385d197 11 servo.period_us(pulse_cycle_);
yootee 2:e7b09385d197 12 unsigned int tar_angle_ = (tar_angle > range_degree_ ? range_degree_ :tar_angle);
yootee 2:e7b09385d197 13 pulsese = min_pulse_+pdp*tar_angle_;
yootee 2:e7b09385d197 14 servo.pulsewidth_us(pulsese);
yootee 2:e7b09385d197 15 now_angle_ = tar_angle;
yootee 2:e7b09385d197 16 }
yootee 2:e7b09385d197 17
yootee 2:e7b09385d197 18 void servo::Addangle(int tar_angle){
yootee 2:e7b09385d197 19 PwmOut servo(signal_);
yootee 2:e7b09385d197 20 servo.period_us(pulse_cycle_);
yootee 2:e7b09385d197 21 int tar_angle_ = now_angle_ + tar_angle;
yootee 2:e7b09385d197 22 tar_angle_ = (tar_angle_ < 0 ? 0 : tar_angle_ > range_degree_ ? range_degree_ :tar_angle_);
yootee 2:e7b09385d197 23 pulsese = min_pulse_+pdp*tar_angle_;
yootee 2:e7b09385d197 24 servo.pulsewidth_us(pulsese);
yootee 2:e7b09385d197 25 now_angle_ = tar_angle_;
yootee 2:e7b09385d197 26 }