Dominik Święch / Ser

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Fork of Servo by Simon Ford

Files at this revision

API Documentation at this revision

Revision 4:fc2e5d57af37, committed 2016-07-07

Comitter:
yruiewyrui3
Date:
Thu Jul 07 12:55:07 2016 +0000
Parent:
3:36b69a7ced07
Commit message:
.

Changed in this revision

Servo.cpp Show annotated file Show diff for this revision Revisions of this file
Servo.h Show annotated file Show diff for this revision Revisions of this file 
diff -r 36b69a7ced07 -r fc2e5d57af37 Servo.cpp
--- a/Servo.cpp	Thu Sep 02 17:34:43 2010 +0000
+++ b/Servo.cpp	Thu Jul 07 12:55:07 2016 +0000
@@ -43,11 +43,31 @@
     float offset = _range * 2.0 * (percent - 0.5);
     _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range));
     _p = clamp(percent, 0.0, 1.0);
+    
 }
 
 void Servo::position(float degrees) {
-    float offset = _range * (degrees / _degrees);
-    _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range));
+   // float offset = _range * (degrees / _degrees);
+    if(degrees>0){
+    
+        kat= 0.00145+ fabs(degrees)*0.00001111;
+        _pwm.pulsewidth(kat);
+   
+   }
+   
+   else if (degrees==0){
+        kat=0.00145;
+        _pwm.pulsewidth(kat);
+     }
+     
+     else {
+         kat= 0.00145- fabs(degrees)*0.00001111;
+         _pwm.pulsewidth(kat);
+         }
+        
+    //_pwm.pulsewidth(0.00245);
+    //k=(0.0015 + clamp(offset, -_range, 0.002 +_range));
+    
 }
 
 void Servo::calibrate(float range, float degrees) {

diff -r 36b69a7ced07 -r fc2e5d57af37 Servo.h
--- a/Servo.h	Thu Sep 02 17:34:43 2010 +0000
+++ b/Servo.h	Thu Jul 07 12:55:07 2016 +0000
@@ -1,4 +1,4 @@
-/* mbed R/C Servo Library
+ /* mbed R/C Servo Library
  * Copyright (c) 2007-2010 sford, cstyles
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
@@ -81,18 +81,19 @@
      * @param range Pulsewidth range from center (1.5ms) to maximum/minimum position in seconds
      * @param degrees Angle from centre to maximum/minimum position in degrees
      */
-    void calibrate(float range = 0.0005, float degrees = 45.0); 
+    void calibrate(float range = 0.0005, float degrees = 90); 
         
     /**  Shorthand for the write and read functions */
     Servo& operator= (float percent);
     Servo& operator= (Servo& rhs);
     operator float();
 
-protected:
+public:
     PwmOut _pwm;
     float _range;
     float _degrees;
     float _p;
+    float kat;
 };
 
 #endif