Revision 1:8343f1715462, committed 2017-02-08

Comitter:

mario_meh

Date:

Wed Feb 08 08:35:32 2017 +0000

Parent:

0:dde1a0011645

Commit message:

Zadnje izmjene pred predaju

Changed in this revision

--- a/UniServ.cpp	Wed Oct 13 23:53:29 2010 +0000
+++ b/UniServ.cpp	Wed Feb 08 08:35:32 2017 +0000
@@ -1,55 +1,94 @@
 /* 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.
- */
+* 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);   
-     }
+/** Default metoda za servo motor C90
+* @code
+* #include "mbed.h"
+* #include "UniServ.h"
+*
+* t.start();
+* sMotor.write_us(2000);
+* t.stop();
+* pc.printf("%f\n\r", t.read());
+* wait_ms(1000);
+* t.reset();
+* t.start();
+* sMotor.write_us(0);
+* t.stop();
+* pc.printf("%f\n\r", t.read());
+* wait_ms(1000);
+* t.reset();
+* t.start();
+* sMotor.write_us(3000);
+* t.stop();
+* pc.printf("%f\n\r", t.read());
+* wait_ms(1000);
+* t.reset();
+* t.start();
+* sMotor.write_us(1000);
+* t.stop();
+* pc.printf("%f\n\r", t.read());
+* wait_ms(1000);
+* sMotor.Disable();
+*
+* Dodao metodu Disable() zbog toga da se oslobodi
+* cpu dok se ne izvrši slijedeća operacija
+* @endcode
+*/
  
-    void UniServ::SigStop(){
-        ServPin=0;
-     }
+#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;}
+ }
  
-    void UniServ::write_us(int PosIn){
-        Position=PosIn;
-        if(PosIn<ServMin){Position=ServMin;}
-        if(PosIn>ServMax){Position=ServMax;}
-     }
-     
-     int UniServ::read_us(){
-        return Position;
-     }
-        
- 
+ int UniServ::read_us(){
+    return Position;
+ }
+ void UniServ::Disable() {
+    Pulse.detach();
+ }
+    
+
  
\ No newline at end of file

--- a/UniServ.h	Wed Oct 13 23:53:29 2010 +0000
+++ b/UniServ.h	Wed Feb 08 08:35:32 2017 +0000
@@ -1,24 +1,24 @@
 /* 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.
- */
+* 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.
+*/
  
  #ifndef MBED_UNISERVE_H
  #define MBED_UNISERVE_H
@@ -31,6 +31,7 @@
     UniServ(PinName);
     void write_us(int);
     int read_us();
+    void Disable();     // Dodao
     
  private:
     void SigStart();