Revision 0:3be825a27f88, committed 2016-03-10

Comitter:

HPWang

Date:

Thu Mar 10 19:53:25 2016 +0000

Commit message:

lab1 part1 test

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Mar 10 19:53:25 2016 +0000
@@ -0,0 +1,102 @@
+#include "mbed.h"
+
+PwmOut mypwm(PB_10);
+DigitalOut led1(LED1);//LED1 = D13 = PA_5 (LED on Nucleo board)
+Ticker timer1;
+Ticker timer2;
+
+int a;
+int b;
+int c;
+float pwm_duty ;
+double angle ;
+
+void init_IO(void)
+{
+    a = 0;    
+    b = 0;
+    c = 0;
+    led1 = 0;
+    
+}
+
+
+void init_servo(void)
+{
+    angle = 0;
+    pwm_duty = 0.079;
+    mypwm.period_ms(20);
+    mypwm.write(pwm_duty);
+}
+
+
+void timer1_interrupt(void)
+{
+    a ++ ;
+    if (a == 500)led1 = 1;
+                
+    else if (a == 1000)
+            {
+                led1 = 0;                      
+                a = 0;
+                b = b+1;
+            }
+}
+
+
+void init_TIMER(void)
+{
+    timer1.attach_us(&timer1_interrupt, 1000.0);//1ms interrupt period (1 KHz)
+}
+
+
+
+
+
+
+void run_servo(void)
+{
+    angle = angle + c * 0.015;
+    pwm_duty = 0.079 +(0.084/180)*angle; 
+    mypwm.write(pwm_duty);
+    c++;
+    if (c >6000) 
+    {
+        timer2.detach(); 
+    }
+}
+
+void run_servo_counter(void)
+{
+    timer2.attach_us(&run_servo, 1000.0);//1ms interrupt period (1 KHz)
+}
+
+int main() 
+{
+    init_IO();
+    init_servo();
+    init_TIMER();
+    
+    while(1)
+    {    
+        
+        if (b >= 3)
+            {
+                run_servo_counter();
+            }
+        
+        else if(b > 10)
+            {
+                timer1.detach();
+                timer2.detach();
+                wait(1);
+                init_IO();
+                init_servo();
+                wait(3);
+                init_TIMER()
+            
+            }
+    }
+    
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Mar 10 19:53:25 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/87f2f5183dfb
\ No newline at end of file