Matteo Terruzzi / ESC

ESC class used to controll standard Electronic Speed Controllers for brushless motors of RC models

Dependents:   MTQuadControl Base_Hybrid_V2 base_rekam_darurat_v1 Base_Hybrid_Latihan_Ok_Hajar_servo_pwm ... more

Simple ESC usage example

#include "mbed.h"
#include "esc.h" //include the ESC class


int main()
{
    ESC esc1(p26); //declare the ESC as connected to pin p26.
    float throttle_var = 0.5 //that means 50%.
        
    while(1)
    {
        //... update throttle_var ...
    
        esc1 = throttle_var; //memorize the throttle value (it doesn't send it to the ESC).
        
        //... do whatever you want - e.g. call esc1.setThrottle(throttle_var) again ...
        
        esc1(); //actually sets the throttle to the ESC.
        
        wait_ms(20);  //20ms is the default period of the ESC pwm; the ESC may not run faster.
    }
}

Files at this revision

API Documentation at this revision

Revision 1:735702ea5519, committed 2013-07-19

Comitter:
MatteoT
Date:
Fri Jul 19 04:47:41 2013 +0000
Parent:
0:116260c66d88
Commit message:
no inline keywords

Changed in this revision

esc.cpp Show annotated file Show diff for this revision Revisions of this file
esc.h Show annotated file Show diff for this revision Revisions of this file 
--- a/esc.cpp	Fri Jul 19 03:11:05 2013 +0000
+++ b/esc.cpp	Fri Jul 19 04:47:41 2013 +0000
@@ -8,7 +8,7 @@
     esc.pulsewidth_us(throttle);
 }
 
-inline bool ESC::setThrottle (const float t)
+bool ESC::setThrottle (const float t)
 {
     if (t >= 0.0 && t <= 1.0) {       // qualify range, 0-1
         throttle = 1000.0*t + 1000;     // map to range, 1-2 ms (1000-2000us)
@@ -16,22 +16,22 @@
     }
     return false;
 }
-inline bool ESC::operator= (const float t){
+bool ESC::operator= (const float t){
     return this->setThrottle(t);
 }
 
-inline float ESC::getThrottle () const{
+float ESC::getThrottle () const{
     return throttle;
 }
-inline ESC::operator float () const{
+ESC::operator float () const{
     return this->getThrottle();
 }
 
-inline void ESC::pulse ()
+void ESC::pulse ()
 {
     esc.pulsewidth_us(throttle);
 }
-inline void ESC::operator() ()
+void ESC::operator() ()
 {
     this->pulse();
 }
\ No newline at end of file

--- a/esc.h	Fri Jul 19 03:11:05 2013 +0000
+++ b/esc.h	Fri Jul 19 04:47:41 2013 +0000
@@ -104,22 +104,22 @@
      *  @param t in in the range [0.0;1.0]
      *  @return true if throttle value is in range; false otherwise.
      */
-    inline bool setThrottle (const float t);
+    bool setThrottle (const float t);
     ///Alias of setThrottle(float)
-    inline bool operator= (const float t);
+    bool operator= (const float t);
     
     /** Get the last setted throttle value
      *  @return throttle in range [0.0-1.0].
      */
-    inline float getThrottle () const;
+    float getThrottle () const;
     ///Alias of getThrottle()
-    inline operator float () const;
+    operator float () const;
     
     /** Output the throttle value to the ESC.
      */
-    inline void pulse ();
+    void pulse ();
     ///Alias of pulse()
-    inline void operator() ();
+    void operator() ();
  };
 
 #endif
\ No newline at end of file