Biorobotics / Mbed 2 deprecated frdm_servo

Servo script + magnet driver for biorobotics project in Uni. Made by Teun van der Molen

Dependencies:   MODSERIAL Servo mbed

main.cpp@2:37d109555c95, 2015-10-19 (annotated)

Committer:
teunman
Date:
Mon Oct 19 10:00:03 2015 +0000
Revision:
2:37d109555c95
Parent:
1:26baa438620b 
latest version of servo. Cleaned up some documentation;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
teunman 0:05ecf16dcb7b 1 #include "mbed.h"
teunman 1:26baa438620b 2 #include "Servo.h"
teunman 0:05ecf16dcb7b 3
teunman 1:26baa438620b 4
teunman 1:26baa438620b 5 DigitalOut green(LED2); //The led is on with the magnet
teunman 1:26baa438620b 6 DigitalOut magnet(D2); //magnet is defined on D2
teunman 1:26baa438620b 7 DigitalIn knop(SW2); //The button used to cycle the entire pick up sequence
teunman 1:26baa438620b 8
teunman 1:26baa438620b 9
teunman 0:05ecf16dcb7b 10 int main()
teunman 0:05ecf16dcb7b 11 {
teunman 1:26baa438620b 12
teunman 2:37d109555c95 13 Servo swagvo(D4); //devine the port for controlling the servo (this cannot be a PWM port (i think) !!!)
teunman 1:26baa438620b 14 int down = 0; //counter
teunman 1:26baa438620b 15 green = 1;
teunman 1:26baa438620b 16
teunman 2:37d109555c95 17 swagvo.Enable(1500,20000); //turning on the servo (starting position,frequency (50 Hz do not change!!!))
teunman 1:26baa438620b 18 // The servo has the following positions (fully left: 650, center (1500), fully right (2350)) these values prevent the servo from grinding so do not exceed them
teunman 1:26baa438620b 19
teunman 1:26baa438620b 20 while(true) {
teunman 1:26baa438620b 21
teunman 1:26baa438620b 22
teunman 1:26baa438620b 23
teunman 1:26baa438620b 24
teunman 1:26baa438620b 25
teunman 1:26baa438620b 26 if (knop == 0 and down == 0){
teunman 1:26baa438620b 27 swagvo.SetPosition(650); //lower wire
teunman 1:26baa438620b 28 wait(1);
teunman 1:26baa438620b 29 green = 0;
teunman 1:26baa438620b 30 magnet = 1; //attach piece
teunman 1:26baa438620b 31 wait(1);
teunman 1:26baa438620b 32 swagvo.SetPosition(2350); //raise wire
teunman 1:26baa438620b 33 down = 1;
teunman 1:26baa438620b 34 }
teunman 1:26baa438620b 35
teunman 1:26baa438620b 36 else if (knop == 0 and down == 1){
teunman 1:26baa438620b 37 swagvo.SetPosition(650); //lower wire
teunman 1:26baa438620b 38 wait(1);
teunman 1:26baa438620b 39 green = 1;
teunman 1:26baa438620b 40 magnet = 0; //detach piece
teunman 1:26baa438620b 41 wait(1);
teunman 1:26baa438620b 42 swagvo.SetPosition(2350); //raise wire
teunman 1:26baa438620b 43 down = 0; //reset
teunman 1:26baa438620b 44 }
teunman 1:26baa438620b 45
teunman 1:26baa438620b 46 }
teunman 1:26baa438620b 47 }
teunman 1:26baa438620b 48
teunman 1:26baa438620b 49