A class to control a model R/C servo, using a PwmOut
Fork of Servo by
Servo.cpp@4:0b7244868ca2, 2016-06-15 (annotated)
- Committer:
- yruiewyrui3
- Date:
- Wed Jun 15 12:32:53 2016 +0000
- Revision:
- 4:0b7244868ca2
- Parent:
- 2:8995c167f399
full range RPi
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
simon | 2:8995c167f399 | 1 | /* mbed R/C Servo Library |
simon | 2:8995c167f399 | 2 | * |
simon | 2:8995c167f399 | 3 | * Copyright (c) 2007-2010 sford, cstyles |
simon | 2:8995c167f399 | 4 | * |
simon | 2:8995c167f399 | 5 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
simon | 2:8995c167f399 | 6 | * of this software and associated documentation files (the "Software"), to deal |
simon | 2:8995c167f399 | 7 | * in the Software without restriction, including without limitation the rights |
simon | 2:8995c167f399 | 8 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
simon | 2:8995c167f399 | 9 | * copies of the Software, and to permit persons to whom the Software is |
simon | 2:8995c167f399 | 10 | * furnished to do so, subject to the following conditions: |
simon | 2:8995c167f399 | 11 | * |
simon | 2:8995c167f399 | 12 | * The above copyright notice and this permission notice shall be included in |
simon | 2:8995c167f399 | 13 | * all copies or substantial portions of the Software. |
simon | 2:8995c167f399 | 14 | * |
simon | 2:8995c167f399 | 15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
simon | 2:8995c167f399 | 16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
simon | 2:8995c167f399 | 17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
simon | 2:8995c167f399 | 18 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
simon | 2:8995c167f399 | 19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
simon | 2:8995c167f399 | 20 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
simon | 2:8995c167f399 | 21 | * THE SOFTWARE. |
simon | 0:24148c673250 | 22 | */ |
simon | 2:8995c167f399 | 23 | |
simon | 0:24148c673250 | 24 | #include "Servo.h" |
simon | 0:24148c673250 | 25 | #include "mbed.h" |
simon | 0:24148c673250 | 26 | |
simon | 0:24148c673250 | 27 | static float clamp(float value, float min, float max) { |
simon | 0:24148c673250 | 28 | if(value < min) { |
simon | 0:24148c673250 | 29 | return min; |
simon | 0:24148c673250 | 30 | } else if(value > max) { |
simon | 0:24148c673250 | 31 | return max; |
simon | 0:24148c673250 | 32 | } else { |
simon | 0:24148c673250 | 33 | return value; |
simon | 0:24148c673250 | 34 | } |
simon | 0:24148c673250 | 35 | } |
simon | 0:24148c673250 | 36 | |
simon | 0:24148c673250 | 37 | Servo::Servo(PinName pin) : _pwm(pin) { |
simon | 0:24148c673250 | 38 | calibrate(); |
simon | 0:24148c673250 | 39 | write(0.5); |
simon | 0:24148c673250 | 40 | } |
simon | 0:24148c673250 | 41 | |
simon | 0:24148c673250 | 42 | void Servo::write(float percent) { |
simon | 0:24148c673250 | 43 | float offset = _range * 2.0 * (percent - 0.5); |
simon | 0:24148c673250 | 44 | _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range)); |
simon | 0:24148c673250 | 45 | _p = clamp(percent, 0.0, 1.0); |
yruiewyrui3 | 4:0b7244868ca2 | 46 | |
simon | 0:24148c673250 | 47 | } |
simon | 0:24148c673250 | 48 | |
simon | 0:24148c673250 | 49 | void Servo::position(float degrees) { |
yruiewyrui3 | 4:0b7244868ca2 | 50 | // float offset = _range * (degrees / _degrees); |
yruiewyrui3 | 4:0b7244868ca2 | 51 | if(degrees>0){ |
yruiewyrui3 | 4:0b7244868ca2 | 52 | |
yruiewyrui3 | 4:0b7244868ca2 | 53 | kat= 0.00145+ fabs(degrees)*0.00001111; |
yruiewyrui3 | 4:0b7244868ca2 | 54 | _pwm.pulsewidth(kat); |
yruiewyrui3 | 4:0b7244868ca2 | 55 | |
yruiewyrui3 | 4:0b7244868ca2 | 56 | } |
yruiewyrui3 | 4:0b7244868ca2 | 57 | |
yruiewyrui3 | 4:0b7244868ca2 | 58 | else if (degrees==0){ |
yruiewyrui3 | 4:0b7244868ca2 | 59 | kat=0.00145; |
yruiewyrui3 | 4:0b7244868ca2 | 60 | _pwm.pulsewidth(kat); |
yruiewyrui3 | 4:0b7244868ca2 | 61 | } |
yruiewyrui3 | 4:0b7244868ca2 | 62 | |
yruiewyrui3 | 4:0b7244868ca2 | 63 | else { |
yruiewyrui3 | 4:0b7244868ca2 | 64 | kat= 0.00145- fabs(degrees)*0.00001111; |
yruiewyrui3 | 4:0b7244868ca2 | 65 | _pwm.pulsewidth(kat); |
yruiewyrui3 | 4:0b7244868ca2 | 66 | } |
yruiewyrui3 | 4:0b7244868ca2 | 67 | |
yruiewyrui3 | 4:0b7244868ca2 | 68 | //_pwm.pulsewidth(0.00245); |
yruiewyrui3 | 4:0b7244868ca2 | 69 | //k=(0.0015 + clamp(offset, -_range, 0.002 +_range)); |
yruiewyrui3 | 4:0b7244868ca2 | 70 | |
simon | 0:24148c673250 | 71 | } |
simon | 0:24148c673250 | 72 | |
simon | 0:24148c673250 | 73 | void Servo::calibrate(float range, float degrees) { |
simon | 0:24148c673250 | 74 | _range = range; |
simon | 0:24148c673250 | 75 | _degrees = degrees; |
simon | 0:24148c673250 | 76 | } |
simon | 0:24148c673250 | 77 | |
simon | 0:24148c673250 | 78 | float Servo::read() { |
simon | 0:24148c673250 | 79 | return _p; |
simon | 0:24148c673250 | 80 | } |
simon | 0:24148c673250 | 81 | |
simon | 0:24148c673250 | 82 | Servo& Servo::operator= (float percent) { |
simon | 0:24148c673250 | 83 | write(percent); |
simon | 0:24148c673250 | 84 | return *this; |
simon | 0:24148c673250 | 85 | } |
simon | 0:24148c673250 | 86 | |
simon | 0:24148c673250 | 87 | Servo& Servo::operator= (Servo& rhs) { |
simon | 0:24148c673250 | 88 | write(rhs.read()); |
simon | 0:24148c673250 | 89 | return *this; |
simon | 0:24148c673250 | 90 | } |
simon | 0:24148c673250 | 91 | |
simon | 0:24148c673250 | 92 | Servo::operator float() { |
simon | 0:24148c673250 | 93 | return read(); |
simon | 0:24148c673250 | 94 | } |