Bat Ear Code / Mbed 2 deprecated multiServoBat

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Dependencies:   mbed Servo

Fork of multiServoBat by Angeline Luther

main.cpp@2:7e5d670ed9aa, 2019-08-01 (annotated)

Committer:
aluthe3099
Date:
Thu Aug 01 14:40:15 2019 +0000
Revision:
2:7e5d670ed9aa
Parent:
1:829cbbaeaf32
Child:
3:88de581de68d
the code has been updated so that it can move all servos, or only two (so that it can individually run left and right ear)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aluthe3099 0:afc37ce56e1f 1 #include "mbed.h"
aluthe3099 0:afc37ce56e1f 2 #include "Servo.h"
evangeli 1:829cbbaeaf32 3
evangeli 1:829cbbaeaf32 4 #define NUM_SERVOS 4
evangeli 1:829cbbaeaf32 5 Servo servo[NUM_SERVOS]={p24,p23,p22,p21};
aluthe3099 0:afc37ce56e1f 6 float range = 0.0005;
aluthe3099 0:afc37ce56e1f 7 float degrees = 45.0;
aluthe3099 0:afc37ce56e1f 8
evangeli 1:829cbbaeaf32 9 void together();
aluthe3099 2:7e5d670ed9aa 10 void apart(int side);
evangeli 1:829cbbaeaf32 11
evangeli 1:829cbbaeaf32 12 int main() {
evangeli 1:829cbbaeaf32 13 printf("Hello bats!\n");
evangeli 1:829cbbaeaf32 14
evangeli 1:829cbbaeaf32 15 printf("entering loop\n");
evangeli 1:829cbbaeaf32 16 while(1) {
evangeli 1:829cbbaeaf32 17 printf("entering together() call\n");
evangeli 1:829cbbaeaf32 18 together();
aluthe3099 2:7e5d670ed9aa 19 wait(5);
aluthe3099 2:7e5d670ed9aa 20 apart(0);
aluthe3099 2:7e5d670ed9aa 21 wait(2);
aluthe3099 2:7e5d670ed9aa 22 apart(1);
aluthe3099 2:7e5d670ed9aa 23 wait(2);
evangeli 1:829cbbaeaf32 24 }
evangeli 1:829cbbaeaf32 25
evangeli 1:829cbbaeaf32 26 }
evangeli 1:829cbbaeaf32 27
evangeli 1:829cbbaeaf32 28 void together()
aluthe3099 0:afc37ce56e1f 29 {
evangeli 1:829cbbaeaf32 30 float i;
evangeli 1:829cbbaeaf32 31 int j;
aluthe3099 2:7e5d670ed9aa 32 float max = 1.0, min = 0.0, incr = 0.01;
evangeli 1:829cbbaeaf32 33
aluthe3099 2:7e5d670ed9aa 34 for(i = min; i<max; i+=incr)
aluthe3099 2:7e5d670ed9aa 35 {
aluthe3099 2:7e5d670ed9aa 36 for(j = 0; j<NUM_SERVOS; j++)
aluthe3099 2:7e5d670ed9aa 37 {
aluthe3099 2:7e5d670ed9aa 38 servo[j] = i;
aluthe3099 2:7e5d670ed9aa 39 }
aluthe3099 2:7e5d670ed9aa 40 wait(0.01);
aluthe3099 2:7e5d670ed9aa 41 }
aluthe3099 2:7e5d670ed9aa 42 wait(1);
aluthe3099 2:7e5d670ed9aa 43 for(i = max; i>min; i-=incr)
aluthe3099 0:afc37ce56e1f 44 {
evangeli 1:829cbbaeaf32 45 for(j = 0; j<NUM_SERVOS; j++)
aluthe3099 0:afc37ce56e1f 46 {
evangeli 1:829cbbaeaf32 47 servo[j] = i;
aluthe3099 0:afc37ce56e1f 48 }
aluthe3099 0:afc37ce56e1f 49 wait(0.01);
aluthe3099 0:afc37ce56e1f 50 }
aluthe3099 2:7e5d670ed9aa 51 wait(1);
aluthe3099 2:7e5d670ed9aa 52 printf("finished one of together\n");
aluthe3099 2:7e5d670ed9aa 53 }
aluthe3099 2:7e5d670ed9aa 54
aluthe3099 2:7e5d670ed9aa 55 //only moves two of the servo motors, which 2 depends on the parameter side: runs 1 and 3 when side = 1, runs 2 and 4 when side = 0
aluthe3099 2:7e5d670ed9aa 56 void apart (int side)
aluthe3099 2:7e5d670ed9aa 57 {
aluthe3099 2:7e5d670ed9aa 58 float i;
aluthe3099 2:7e5d670ed9aa 59 int j;
aluthe3099 2:7e5d670ed9aa 60 float max = 1.0, min = 0.0, incr = 0.01;
aluthe3099 2:7e5d670ed9aa 61 for(i = min; i<max; i+=incr)
aluthe3099 0:afc37ce56e1f 62 {
evangeli 1:829cbbaeaf32 63 for(j = 0; j<NUM_SERVOS; j++)
aluthe3099 0:afc37ce56e1f 64 {
aluthe3099 2:7e5d670ed9aa 65 if(j%2 == side)
aluthe3099 0:afc37ce56e1f 66 {
aluthe3099 2:7e5d670ed9aa 67 servo[j] = i;
aluthe3099 0:afc37ce56e1f 68 }
aluthe3099 0:afc37ce56e1f 69
aluthe3099 0:afc37ce56e1f 70
aluthe3099 0:afc37ce56e1f 71 }
aluthe3099 0:afc37ce56e1f 72 wait(0.01);
aluthe3099 0:afc37ce56e1f 73 }
aluthe3099 2:7e5d670ed9aa 74 wait(1);
aluthe3099 2:7e5d670ed9aa 75 for(i = max; i>min; i-=incr)
aluthe3099 0:afc37ce56e1f 76 {
aluthe3099 2:7e5d670ed9aa 77 for(j = 0; j<NUM_SERVOS; j++)
aluthe3099 0:afc37ce56e1f 78 {
aluthe3099 2:7e5d670ed9aa 79 if(j%2 == side)
aluthe3099 2:7e5d670ed9aa 80 {
aluthe3099 2:7e5d670ed9aa 81 servo[j] = i;
aluthe3099 2:7e5d670ed9aa 82 }
aluthe3099 0:afc37ce56e1f 83 }
aluthe3099 0:afc37ce56e1f 84 wait(0.01);
aluthe3099 0:afc37ce56e1f 85 }
aluthe3099 2:7e5d670ed9aa 86 wait(1);
aluthe3099 0:afc37ce56e1f 87 printf("finished one of together\n");
aluthe3099 2:7e5d670ed9aa 88 }