1 files changed, 0 insertions, 164 deletions
diff --git a/peripheral/libupm/src/servo/servo.cxx b/peripheral/libupm/src/servo/servo.cxx
deleted file mode 100644
index b956ec4..0000000
--- a/peripheral/libupm/src/servo/servo.cxx
+++ /dev/null
@@ -1,164 +0,0 @@
-/*
- * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
- * Copyright (c) 2014 Intel Corporation.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
- * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
- * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
- * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
-
-#include <iostream>
-#include <sstream>
-#include <string>
-#include <stdexcept>
-#include <unistd.h>
-#include <stdlib.h>
-#include <math.h>
-
-#include "servo.h"
-
-using namespace upm;
-
-Servo::Servo (int pin) {
-    init(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH, DEFAULT_WAIT_DISABLE_PWM);
-}
-
-Servo::Servo (int pin, int minPulseWidth, int maxPulseWidth) {
-    init(pin, minPulseWidth, maxPulseWidth, DEFAULT_WAIT_DISABLE_PWM);
-}
-
-Servo::Servo (int pin, int minPulseWidth, int maxPulseWidth, int waitAndDisablePwm) {
-    init(pin, minPulseWidth, maxPulseWidth, waitAndDisablePwm);
-}
-
-Servo::~Servo () {
-    haltPwm();
-    mraa_pwm_close (m_pwmServoContext);
-}
-
-/*
- * X = between (MIN_PULSE_WIDTH , MAX_PULSE_WIDTH)
- *
- * X usec
- * _______
- *        |_______________________________________
- *                      m_period usec
- *
- * */
-mraa_result_t Servo::setAngle (int angle) {
-    if (angle > m_maxAngle || angle < 0) {
-        // C++11 std::to_string() would be nice, but...
-        std::ostringstream str;
-        str << m_maxAngle;
-        throw std::out_of_range(std::string(__FUNCTION__) +
-                                ": angle must be between 0 and " +
-                                str.str());
-
-        return MRAA_ERROR_UNSPECIFIED;
-    }
-
-    mraa_pwm_enable (m_pwmServoContext, 1);
-    mraa_pwm_period_us (m_pwmServoContext, m_period);
-    mraa_pwm_pulsewidth_us (m_pwmServoContext, calcPulseTraveling(angle));
-
-    if (m_waitAndDisablePwm) {
-        sleep(1); // we must make sure that we don't turn off PWM before the servo is done moving.
-        haltPwm();
-    }
-
-    m_currAngle = angle;
-    return MRAA_SUCCESS;
-}
-
-mraa_result_t Servo::haltPwm () {
-    return mraa_pwm_enable (m_pwmServoContext, 0);
-}
-
-/*
- * Calculating relative pulse time to the value.
- * */
-int Servo::calcPulseTraveling (int value) {
-    // if bigger than the boundaries
-    if (value > m_maxAngle) {
-        return m_maxPulseWidth;
-    }
-
-    // if less than the boundaries
-    if (value  < 0) {
-        return m_minPulseWidth;
-    }
-
-    // the conversion
-    return (int) ((float)m_minPulseWidth + ((float)value / m_maxAngle) * ((float)m_maxPulseWidth - (float)m_minPulseWidth));
-}
-
-void
-Servo::setMinPulseWidth (int width) {
-    m_minPulseWidth = width;
-}
-
-void
-Servo::setMaxPulseWidth (int width) {
-    m_maxPulseWidth = width;
-}
-
-void
-Servo::setPeriod (int period) {
-    m_period = period;
-}
-
-int
-Servo::getMinPulseWidth () {
-    return m_minPulseWidth;
-}
-
-int
-Servo::getMaxPulseWidth () {
-    return m_maxPulseWidth;
-}
-
-int
-Servo::getPeriod () {
-    return m_period;
-}
-
-/**
- *  private mathod:  would like to use delegating constructors instead but that requires C++11
- */
-void
-Servo::init (int pin, int minPulseWidth, int maxPulseWidth, int waitAndDisablePwm) {
-    m_minPulseWidth   = minPulseWidth;
-    m_maxPulseWidth   = maxPulseWidth;
-    m_period          = PERIOD;
-
-    m_waitAndDisablePwm = waitAndDisablePwm;
-
-    m_maxAngle        = 180.0;
-    m_servoPin        = pin;
-    
-    if ( !(m_pwmServoContext = mraa_pwm_init (m_servoPin)) ) 
-      {
-        throw std::invalid_argument(std::string(__FUNCTION__) +
-                                    ": mraa_pwm_init() failed, invalid pin?");
-        return;
-      }
-
-    m_currAngle = 180;
-
-    setAngle (0);
-}