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@1:26baa438620b, 2015-09-28 (annotated)

Committer:
teunman
Date:
Mon Sep 28 14:27:06 2015 +0000
Revision:
1:26baa438620b
Parent:
0:05ecf16dcb7b
Child:
2:37d109555c95
Program to drive the servo in combination with the magnet grabber. Works without magnet or load attached to the servo. (see comments in code for more details on functionallity)

Who changed what in which revision?

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