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

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