Revision 5:56daa8c0697d, committed 2014-10-21

Comitter:

dudanian

Date:

Tue Oct 21 06:26:25 2014 +0000

Parent:

4:95305d4b0544

Child:

6:b001282e967b

Commit message:

Added mbed official docs for the Server inner class as well as support for the position(float degrees) function from the official mbed class.

Changed in this revision

--- a/TLC5940Servo.cpp	Tue Oct 21 06:14:58 2014 +0000
+++ b/TLC5940Servo.cpp	Tue Oct 21 06:26:25 2014 +0000
@@ -87,14 +87,17 @@
     write(0.5);
 }
 
-// used source code, but converted pwm pulse to 12 bit value
-// assuming 20ms period, divide to get percentage and multiply to get value
 void TLC5940Servo::Servo::write(float percent) {
     float offset = _range * 2.0 * (percent - 0.5);
     _pw = (int)(4095 - ((0.0015 + clamp(offset, -_range, _range))/0.02 * 4096.0));
     _p = clamp(percent, 0.0, 1.0);
 }
 
+void TLC5940Servo::Servo::position(float degrees) {
+    float offset = _range * (degrees / _degrees);
+    _pw = (int)(4095 - ((0.0015 + clamp(offset, -_range, _range))/0.02 * 4096.0));
+}
+
 void TLC5940Servo::Servo::calibrate(float range, float degrees) {
     _range = range;
     _degrees = degrees;
@@ -113,6 +116,11 @@
     return *this;
 }
 
+TLC5940Servo::Servo& TLC5940Servo::Servo::operator= (TLC5940Servo::Servo& rhs) {
+    write(rhs.read());
+    return *this;
+}
+
 TLC5940Servo::Servo::operator float() {
     return read();
 }

--- a/TLC5940Servo.h	Tue Oct 21 06:14:58 2014 +0000
+++ b/TLC5940Servo.h	Tue Oct 21 06:26:25 2014 +0000
@@ -36,24 +36,56 @@
      */
     class Servo {
     public:
+        /**
+         * Creat a servo object NOT connected to a specific PwmOut pin
+         */
         Servo();
+
         /** 
          * Set the servo position, normalised to it's full range
          *
          * @param percent A normalised number 0.0-1.0 to represent the full range.
          */
         void write(float percent);
-        void calibrate(float range=0.0005, float degrees=45.0);
+
+        /**  
+         * Read the servo motors current position
+         *
+         * @param returns A normalised number 0.0-1.0  representing the full range.
+         */
         float read();
+        
+        /** 
+         * Set the servo position
+         *
+         * @param degrees Servo position in degrees
+         */
+        void position(float degrees);
+    
+        /**
+         * Allows calibration of the range and angles for a particular servo
+         *
+         * @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);
+        
+        /**
+         * Read the servo motors current TLC5940 pw value
+         */
         int pulsewidth();
+        
+        /**  Shorthand for the write and read functions */
         Servo& operator= (float percent);
+        Servo& operator= (Servo& rhs);
         operator float();
     private:
-        float _p;
         float _range;
         float _degrees;
+        float _p;
         int _pw;
     };
+
     /**
       * Set up the TLC5940
       *