Servo

Driver for PWM controlled servo motors. More...

Protected Attributes

Type	Name
PwmOut	_pwm
float	_range
float	_degrees
float	_p

Public Functions

Type	Name
	Servo (PinName pin)
void	write (float percent)
float	read ()
void	position (float degrees)
void	calibrate (float range = 0.0005, float degrees = 45.0)
Servo &	operator= (float percent)
Servo &	operator= (Servo & rhs)
	operator float ()

Detailed Description

Servo control class, based on a PwmOut Example:

// Continuously sweep the servo through it's full range
#include "mbed.h"
#include "Servo.h"

Servo myservo(p21);

int main() {
    while(1) {
        for(int i=0; i<100; i++) {
            myservo = i/100.0;
            wait(0.01);
        }
        for(int i=100; i>0; i--) {
            myservo = i/100.0;
            wait(0.01);
        }
    }
}

Protected Attributes Documentation

variable _pwm

PwmOut Servo::_pwm;

variable _range

float Servo::_range;

variable _degrees

float Servo::_degrees;

variable _p

float Servo::_p;

Public Functions Documentation

function Servo

Servo::Servo (
    PinName pin
)

Create a servo object connected to the specified PwmOut pin

Parameters:

• pin PwmOut pin to connect to

function write

void Servo::write (
    float percent
)

Set the servo position, normalised to it's full range

Parameters:

• percent A normalised number 0.0-1.0 to represent the full range.

function read

float Servo::read ()

Read the servo motors current position

Parameters:

• returns A normalised number 0.0-1.0 representing the full range.

function position

void Servo::position (
    float degrees
)

Set the servo position

Parameters:

• degrees Servo position in degrees

function calibrate

void Servo::calibrate (
    float range = 0.0005,
    float degrees = 45.0
)

Allows calibration of the range and angles for a particular servo

Parameters:

• range Pulsewidth range from center (1.5ms) to maximum/minimum position in seconds

• degrees Angle from centre to maximum/minimum position in degrees

function operator=

Servo & Servo::operator= (
    float percent
)

Shorthand for the write and read functions

function operator=

Servo & Servo::operator= (
    Servo & rhs
)

function operator float

Servo::operator float ()

The documentation for this class was generated from the following file: D:/w/hw-libs/\_libs\_/libraries/Servo.h