Diff: UniServ.cpp

Revision:

0:dde1a0011645

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/UniServ.cpp	Wed Oct 13 23:53:29 2010 +0000
@@ -0,0 +1,55 @@
+/* UniServ Servo Library
+ * Copyright (c) 2010 Matt Parsons
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+ 
+ #include "mbed.h"
+ #include "UniServ.h"
+ 
+    UniServ::UniServ(PinName pin) : ServPin(pin){
+        Period=20000;
+        Position=1500;
+        ServMin=400;
+        ServMax=2600;
+    
+      Pulse.attach_us(this,&UniServ::SigStart,Period);
+     }
+ 
+    void UniServ::SigStart(){
+        ServPin=1;
+        PulseEnd.attach_us(this,&UniServ::SigStop,Position);   
+     }
+ 
+    void UniServ::SigStop(){
+        ServPin=0;
+     }
+ 
+    void UniServ::write_us(int PosIn){
+        Position=PosIn;
+        if(PosIn<ServMin){Position=ServMin;}
+        if(PosIn>ServMax){Position=ServMax;}
+     }
+     
+     int UniServ::read_us(){
+        return Position;
+     }
+        
+ 
+ 
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