Ed Witte / Servo

Sample Servo / LCD code for KL46Z. Display slider value on LCD and set servo position according to slider. Sample code for RS

Fork of Servo by Simon Ford

Demonstrate SLIDER, SERVO and LCD

Servo output is on port pin PTC1 Servo must be powered independently from KL46Z Delay of 1-2s out of reset caused by unknown issue.

Servo.cpp@5:b237e6e2ed77, 2017-07-12 (annotated)

Committer:
edware
Date:
Wed Jul 12 04:38:54 2017 +0000
Revision:
5:b237e6e2ed77
Parent:
2:8995c167f399 
Sample Servo / LCD code for KL46Z.; Display slider value on LCD and set servo position according to slider.; Sample code for RS

Who changed what in which revision?

UserRevisionLine numberNew 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);
simon 0:24148c673250 46 }
simon 0:24148c673250 47
simon 0:24148c673250 48 void Servo::position(float degrees) {
simon 0:24148c673250 49 float offset = _range * (degrees / _degrees);
simon 0:24148c673250 50 _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range));
simon 0:24148c673250 51 }
simon 0:24148c673250 52
simon 0:24148c673250 53 void Servo::calibrate(float range, float degrees) {
simon 0:24148c673250 54 _range = range;
simon 0:24148c673250 55 _degrees = degrees;
simon 0:24148c673250 56 }
simon 0:24148c673250 57
simon 0:24148c673250 58 float Servo::read() {
simon 0:24148c673250 59 return _p;
simon 0:24148c673250 60 }
simon 0:24148c673250 61
simon 0:24148c673250 62 Servo& Servo::operator= (float percent) {
simon 0:24148c673250 63 write(percent);
simon 0:24148c673250 64 return *this;
simon 0:24148c673250 65 }
simon 0:24148c673250 66
simon 0:24148c673250 67 Servo& Servo::operator= (Servo& rhs) {
simon 0:24148c673250 68 write(rhs.read());
simon 0:24148c673250 69 return *this;
simon 0:24148c673250 70 }
simon 0:24148c673250 71
simon 0:24148c673250 72 Servo::operator float() {
simon 0:24148c673250 73 return read();
simon 0:24148c673250 74 }