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adafruitss: fix the period setting in setPWMFreq()

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Tweak the fudge factor so it is more accurate for 50Hz and 60Hz periods. (Tested on Logic 4 and it is spot on now)
Get rid of compiler warnings when -Wall is set
Allow for float angle to be passed into the servo() method for more accurate positioning

Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
This commit is contained in:
Jim Morris
2015-08-01 02:23:32 -07:00
committed by Mihai Tudor Panu
parent 197b56003c
commit 7260c78c33
2 changed files with 36 additions and 42 deletions
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13
src/adafruitss/adafruitss.h
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@@ -52,7 +52,6 @@
#define PCA9685_PRESCALE_REG 0xFE
#define LED0_REG 0x06
namespace upm {
/**
@@ -60,7 +59,7 @@ namespace upm {
* @defgroup adafruitss libupm-adafruitss
* @ingroup adafruit i2c servos
*/
/**
* @library adafruitss
* @sensor adafruitss
@@ -70,16 +69,18 @@ namespace upm {
* @web http://www.adafruit.com/product/1411
* @con i2c
*
* @brief API for Adafruit Servo Shield
*
* @brief API for Adafruit Servo Shield
*
* UPM library for the PCA9685 based Adafruit 16-channel servo shield. When 3
* or more GWS servos attached results unpredictable. Adafruit do recommend a
* capacitor be installed on the board which should alleviate the issue.
* Sizing depends on servos and count.
*
* @image html adafruitss.jpg
* @image html adafruitss.jpg
* @snippet adafruitss.cxx Interesting
*/
class adafruitss {
public:
/**
@@ -103,14 +104,14 @@ namespace upm {
* @param servo_type can be 0 = standard 1ms to 2ms, 1 = extended 0.6ms to 2.4ms, or 2 = extended 0.8ms to 2.2ms
* @param degrees angle to set the servo to
*/
void servo(uint8_t port, uint8_t servo_type, uint16_t degrees);
void servo(uint8_t port, uint8_t servo_type, float degrees);
void servo(uint8_t port, uint8_t servo_type, uint16_t degrees) { servo(port, servo_type, (float)degrees); }
private:
int pca9685_addr;
mraa_i2c_context m_i2c;
uint8_t m_rx_tx_buf[MAX_BUFFER_LENGTH];
float _pwm_frequency;
float _duration_1ms;
};