37 lines
918 B
C#
37 lines
918 B
C#
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using System;
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using Microsoft.SPOT;
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using GHIElectronics.NETMF.Hardware;
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using GHIElectronics.NETMF.FEZ;
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using System.Threading;
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namespace PlaneOnBoardSoftware
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{
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class ServoController
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{
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float _position = 0;
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float usedAngle = 0;
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PWM servoPwm;
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public ServoController(PWM.Pin ServoPin, float Angle)
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{
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servoPwm = new PWM(ServoPin);
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this.Position = 0;
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usedAngle = Angle / 2;
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}
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public float Position
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{
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get {
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return _position;
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}
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set {
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_position = value;
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if (_position > usedAngle) _position = usedAngle;
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if (_position < -usedAngle) _position = -usedAngle;
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servoPwm.SetPulse(20000000, (uint)(1500000 + _position / 90 * 1250000));
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}
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}
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}
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}
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