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## Copyright (C) 2018 John Donoghue <john.donoghue@ieee.org>
##
## This program is free software: you can redistribute it and/or modify it
## under the terms of the GNU General Public License as published by
## the Free Software Foundation, either version 3 of the License, or
## (at your option) any later version.
##
## This program is distributed in the hope that it will be useful, but
## WITHOUT ANY WARRANTY; without even the implied warranty of
## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
## GNU General Public License for more details. see
## <https://www.gnu.org/licenses/>.
## -*- texinfo -*-
## @deftypefn {} {@var{retval} =} __servoPosition__ (@var{obj}, @var{value})
## Private function to get/set servo position
## @end deftypefn
function out = __servoPosition__ (obj, value)
persistent ARDUINO_SERVO_POSITION = 0;
out = 0;
ar = obj.arduinoobj;
pininfo = obj.pins{1};
diff = obj.maxpulseduration - obj.minpulseduration;
assert (diff >= 0);
if nargin == 2
if !isnumeric (value) || value < 0 || value > 1.0
error("@servo.writePosition: value must be between 0 and 1");
endif
# convert 0 - 1 to min - max pulse
value = obj.minpulseduration + (diff*value);
intval = uint16(value*1e6);
datain = [ bitshift(intval,-8) bitand(intval, 255)];
[tmp, sz] = sendCommand (ar, "servo", ARDUINO_SERVO_POSITION, [pininfo.terminal datain]);
else
[tmp, sz] = sendCommand (ar, "servo", ARDUINO_SERVO_POSITION, [pininfo.terminal]);
value = uint16(tmp(2))*256 + uint16(tmp(3));
value = double(value)/1e6;
value = value - obj.minpulseduration;
out = value/diff;
endif
endfunction
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