Diff: command/command.cpp

Revision:

0:09bf8e3091e8

Child:

1:0fe52e356d01

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/command/command.cpp	Wed Nov 28 17:12:00 2012 +0000
@@ -0,0 +1,82 @@
+#include "command.h"
+#include "mbed.h"
+
+
+
+
+
+Command::Command(PinName pin) :Servo(pin)
+{
+
+};
+
+void Command::targetPosition(int number ,int receive)
+{
+    switch(number-3){
+        case 0:
+            _position = receive<<8;
+            break;
+        case 1:
+            _position += receive;
+            break;
+        case 2:
+            _time = receive<<8;
+            break;
+        case 3:
+            _time += receive;
+            break;
+   }
+
+}
+
+void Command::homePosition(int number ,int receive)
+{
+   switch(number-3){
+        case 0:
+            _position = receive<<8;
+            break;
+        case 1:
+            _position += receive;
+            break;
+        case 2:
+            _homePosition = _position;
+            break;
+   }
+}
+
+
+int Command::getPosition()
+{
+    return _position;
+}
+
+int Command::getTime()
+{
+    return _time;
+}
+
+int Command::getHomeposition()
+{
+    return _homePosition;
+}
+
+void Command::onOff() {
+    if(_on == false){
+        _on = true;
+        write(getPosition()/1800);
+    }else if(_on == true){
+        _on = false;
+        _pwm.pulsewidth(0);
+    }
+}
+
+Command& Command::operator= (float percent) { 
+    write(percent);
+    return *this;
+}
+
+Command& Command::operator= (Command& rhs) {
+    write(rhs.read());
+    return *this;
+}
+