Sha256: f37a1a13c457ad1720e0c890cd61addad5c626d8824c37ed4ed1a428bcc91ee3
Contents?: true
Size: 1.18 KB
Versions: 7
Compression:
Stored size: 1.18 KB
Contents
module Denko
module Motor
class Servo
include Behaviors::SinglePin
include Behaviors::Threaded
def after_initialize(options={})
super(options)
@min = options[:min] || 544
@max = options[:max] || 2400
attach
end
def attach
board.servo_toggle(pin, :on, min: @min, max: @max)
end
def detach
board.servo_toggle(pin, :off)
end
def position=(value)
value = value % 180 unless value == 180
microseconds = ((value.to_f / 180) * (@max - @min)) + @min
board.servo_write(pin, microseconds.round)
@state = value
end
def speed=(value)
raise 'invalid speed value' if value > 100 || value < -100
microseconds = (((value.to_f + 100) / 200) * (@max - @min)) + @min
board.servo_write(pin, microseconds.round)
@state = value
end
alias :angle= :position=
alias :angle :state
alias :position :state
alias :speed :state
def write_microseconds(value)
raise 'invalid microsecond value' if value > @max || value < @min
board.servo_write(pin, value)
end
end
end
end
Version data entries
7 entries across 7 versions & 1 rubygems