Add servo detach API

To reattach, simply call setAngle()
arduino-libraries · Jan 16, 2019 · 76f25f7 · 76f25f7
1 parent 89907f5
commit 76f25f7
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Showing 3 changed files with 10 additions and 1 deletion.
diff --git a/extras/D11-Firmware/ServoMotor.cpp b/extras/D11-Firmware/ServoMotor.cpp
@@ -2,7 +2,11 @@
 
 void ServoMotor::setDuty(int duty) {
   this->duty = duty;
-  analogWrite(pin, duty);
+  if (duty < 0) {
+    pinMode(pin, INPUT);
+  } else {
+    analogWrite(pin, duty);
+  }
 }
 
 void ServoMotor::setFrequency(int frequency) {

diff --git a/src/ServoMotor.cpp b/src/ServoMotor.cpp
@@ -28,6 +28,10 @@ void mc::ServoMotor::setAngle(int angle) {
   setData(SET_PWM_DUTY_CYCLE_SERVO, instance, map(angle,0,180,7,28));
 }
 
+void mc::ServoMotor::detach() {
+  setData(SET_PWM_DUTY_CYCLE_SERVO, instance, -1);
+}
+
 void mc::ServoMotor::setFrequency(int frequency) {
   setData(SET_PWM_FREQUENCY_SERVO, instance, frequency);
 }
diff --git a/src/ServoMotor.h b/src/ServoMotor.h
@@ -22,6 +22,7 @@ class ServoMotor {
   public:
     ServoMotor();
     void setAngle(int angle);
+    void detach();
     void setFrequency(int frequency);
   private:
     int instance;