[Kinetis] 【FRDM_KL02Z】开发笔记+基于mbed开发环境+驱动舵机

/* mbed R/C Servo Library

*  

* Copyright (c) 2007-2010 sford, cstyles

*

* 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 "Servo.h"

#include "mbed.h"



static float clamp(float value, float min, float max) {

    if(value < min) {

        return min;

    } else if(value > max) {

        return max;

    } else {

        return value;

    }

}

Servo::Servo(PinName pin) : _pwm(pin) {

    calibrate();

    write(0.5);

}



void Servo::write(float percent) {

    float offset = _range * 2.0 * (percent - 0.5);

    _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range));

    _p = clamp(percent, 0.0, 1.0);

}



void Servo::position(float degrees) {

    float offset = _range * (degrees / _degrees);

    _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range));

}

void Servo::calibrate(float range, float degrees) {

    _range = range;

    _degrees = degrees;

}



float Servo::read() {

    return _p;

}



Servo& Servo::operator= (float percent) {

    write(percent);

    return *this;

}



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

    write(rhs.read());

    return *this;

}

Servo::operator float() {

    return read();

}

// Do not remove the include below

#include "kl02z_servo.h"



// Continuously sweep the servo through it's full range

#include "mbed.h"

#include "Servo.h"



Servo myservo(PTA6);

int main()

  {

        myservo.calibrate(0.002,180);

      while(1)

      {

          for(int i=-90; i<90; i++)

          {

              myservo.position(i);

              wait(0.01);

          }

          wait(2);



          for(int i=-90; i>0; i--)

          {

              myservo.position(i);

              wait(0.01);

          }

          wait(2);

      }

  }