Revision 12:988fb6ffae63, committed 2017-11-03

Comitter:

dogcatfee

Date:

Fri Nov 03 19:28:37 2017 -0700

Parent:

11:2bb1624d324b

Commit message:

Cleanup, comment, position fixes.

Changed in this revision

--- a/Motor.cpp	Fri Nov 03 22:06:05 2017 +0000
+++ b/Motor.cpp	Fri Nov 03 19:28:37 2017 -0700
@@ -5,9 +5,9 @@
 
 Motor::Motor(PinName Positive, PinName Negative,PinName Speed):
         _positive(Positive), _negative(Negative), _speed(Speed) {
-     _speed.period(0.03f);      // 
-     _speed.write(0.45f); 
-}   
+     _speed.period(0.03f);      //
+     _speed.write(0.45f);
+}
      /* Input 1 or 2.
      *  1 : Postive VCC Negtaive GND, 2 : Postive GND Negtaive VCC.
      */
@@ -16,23 +16,23 @@
      _positive = 1;
      _negative = 0;
     }
-    else if(move == 2){   
+    else if(move == 2){
      _positive = 0;
      _negative = 1;
         }
     }//End of Direction
-   
+
      /* No input.
-     *  1 : Postive GND Negtaive GND  
+     *  1 : Postive GND Negtaive GND
      */
 void Motor::Stop() {
      _positive = 0;
      _negative = 0;
     }//End of Stop
     /* input is the .
-     *  1 : Postive GND Negtaive GND  
+     *  1 : Postive GND Negtaive GND
      */
 void Motor::Speed(int motor_speed) {
    float percantage = motor_speed/100;
-   _speed.write(percantage); 
-    }//End of Stop
\ No newline at end of file
+   _speed.write(percantage);
+    }//End of Stop

--- a/Servo.cpp	Fri Nov 03 22:06:05 2017 +0000
+++ b/Servo.cpp	Fri Nov 03 19:28:37 2017 -0700
@@ -1,85 +1,121 @@
- #include "mbed.h"
- #include "Servo.h"
- // gloabl varevlbe used only inseide the class 
+#include "mbed.h"
+#include "Servo.h"
+// gloabl varevlbe used only inseide the class
 int value_current;
 int value_target;
 float value_target_raw;
 Ticker tick;
 SLCD slcd;
 int n;
-int counter;
 char buffer[50];
-
+unsigned int counter;
 
 Servo::Servo(PinName analog_input,PinName Positive, PinName Negative,PinName Speed):
-     _feedback(analog_input),_motor(Positive,Negative,Speed) {
-      
-}   
-     /* input is angle intger from 0 - 180 
-     *  
-     */
-void Servo::set(int degree) {
-   if(degree > 90){
-   value_target = degree;   // set the value target as the input of the function
-   tick.attach(this,&Servo::move,0.001); // set the ticker to call move every 0.001 sec
+  _feedback(analog_input), _motor(Positive,Negative,Speed) 
+{
+
 }
-  else{
-   value_target = degree;   // set the value target as the input of the function
-   tick.attach(this,&Servo::move,0.001);   
-      } 
-  
-       }//End of Move
-   
-void Servo::move() {
+/*
+   Degree should be a value from 0 to 180.
+   Degree is really from 0 to 100(percent).
+*/
+void Servo::set(int degree) 
+{
+  /*
+     Sets value_target to the degree value that user wants servo to go to.
+  */
+  value_target = degree;
+  /*
+     Counter to store number of tries for motor to be in position.
+  */
+  counter = 0;
+  /*
+     Add the servo's move function to the ticker, runs every 1ms.
+  */
+  tick.attach(this, &Servo::move, 0.01); // set the ticker to call move every 0.001 sec
+}
 
-//value_current = (int)((int)(_feedback*1000)*0.30769230769);
-value_current = (int)((int)(_feedback*100));
-
+void Servo::move() 
+{
+  /*
+     value_target is destination
+     value_current is read from analog
+     slcd for the LCD display
+  */
 
-if(value_target > value_current){ 
-        _motor.Direction(LEFT);
-      //  _motor.Speed(10);
-        //wait(0.1);
-        n = sprintf (buffer, "%d", value_current);
-        slcd.clear();
-        slcd.Home();  
-        slcd.printf(buffer); 
-       }
-else if(value_target < value_current){
-        _motor.Direction(RIGHT);
-      //  _motor.Speed(counter);
-        n = sprintf (buffer, "%d", value_current);
-        slcd.clear();
-        slcd.Home();  
-        slcd.printf(buffer);
-        }     
-else if((value_target == value_current))
- {
-        tick.detach();
-        _motor.Stop();
-        n = sprintf (buffer, "%d", value_current);
-        slcd.clear();
-        slcd.Home();  
-        slcd.printf(buffer);
-       }
+  /* Read the potentiometer value. */
+  value_current = _feedback*100;
+  /*
+     When target value is higher relative to
+     the value read from the potentiometer
+     rotate to the left (Couter-Clockwise).
+  */
+  if(value_target > value_current)
+  {
+    _motor.Direction(LEFT);
+    counter ++;
+  }
+  /*
+     When target value is lower relative to
+     the value read from the potentiometer
+     rotate to the right.  (Clockwise).
+  */
+  else if(value_target < value_current)
+  {
+    _motor.Direction(RIGHT);
+    counter ++;
+  }
+  /*
+     When the motor has been set 2000 times
+     change the target value to the current
+     value of the analog reading, set the
+     counter to 0. 
 
-      
-
-      }
-      
-      
-   
-void Servo::check() {
-
-  value_current = (int)((int)(_feedback*1000)*0.30769230769);
+     Used to prevent rocking between values
+     when the MBED cannot get the value from
+     the potentiometer.
+  */
+  else if(counter > 2000)
+  {
+    value_target = value_current;
+    counter = 0;
+  }
+  /*
+     If no if statements are true, stop
+     the motor and detatch the tick process.
+  */
+  else
+  {
+    tick.detach();
+    _motor.Stop();
+  }
+  /*
+     Sprintf to copy the current value into,
+     the buffer( n stores status of sprintf()).
+  */
+  n = sprintf (buffer, "%d", value_current);
+  slcd.clear();                /* Clear the SLCD */
+  slcd.Home();              /* Set the decimal point on SLCD */
+  slcd.printf(buffer);   /* Write the buffer to the SLCD */
+}
+/*
+   Check function to write to SLCD,
+   not used.
+*/
+void Servo::check()
+{
+  value_current = _feedback*100;
   n = sprintf (buffer, "%d", value_current);
   slcd.clear();
-  slcd.Home();  
+  slcd.Home();
   slcd.printf(buffer);
-
-
-   
-      }
-            
-      
-      
\ No newline at end of file
+}
+/*
+   Returns current position of the analog dial.
+   0 to 100.
+*/
+unsigned int Servo::get()
+{
+  value_current = _feedback*100;
+  return value_current;
+}

--- a/Servo.h	Fri Nov 03 22:06:05 2017 +0000
+++ b/Servo.h	Fri Nov 03 19:28:37 2017 -0700
@@ -3,7 +3,7 @@
 #include "SLCD.h"
 #ifndef MBED_SERVO_H
 #define MBED_SERVO_H
- 
+
 /** Servo control class, based on a Motor Class object
  *
  * Example:
@@ -13,39 +13,42 @@
  * #include "Servo.h"
  * Motor my_motor(P12,P13P,p11);
  * Servo my_servo(p21,my_motor);
- * 
+ *
  * int main() {
- *     
+ *
  * }
  * @endcode
  */
 class Servo {
- 
+
 public:
     /** Create a servo object.
      *
-     * @param pin AnalogIn pin to be feedback, motor is a Motor object from Motor.h  
+     * @param pin AnalogIn pin to be feedback, motor is a Motor object from Motor.h
      */
     Servo(PinName analog_input,PinName Positive, PinName Negative,PinName Speed);
-    
+
     /** Set the servo position
      *
      * @param angle intger in degrees 0-180 to represent the full range.
      */
     void set(int degree);
-    
+
     /**  Read the servo current position in degrees from 0-180
      *
-     * @return returns the current anlge of the servo   
-     */   
-    
+     * @return returns the current anlge of the servo
+     */
+
      void move(void);
+
+     void check();
+
+     unsigned int get();
+
      
-     void check();
 protected:
     AnalogIn _feedback;
     Motor    _motor;
 };
- 
+
 #endif
- 
\ No newline at end of file

--- a/main.cpp	Fri Nov 03 22:06:05 2017 +0000
+++ b/main.cpp	Fri Nov 03 19:28:37 2017 -0700
@@ -9,25 +9,17 @@
 /*  Description:              */
 /*                                                                                      */
 /****************************************************************************************/
+// Edit ~ Matthew Sessions
 
-//              A3   Digi  Digi  PWM
+//               A    Digi  Digi  PWM
 //Servo my_servo(PTB3,PTE19,PTE18,PTE31);
 Servo my_servo(PTB3,PTB0,PTB1,PTE29);
-Serial pc(USBTX, USBRX); // tx, rx
 
-
-int main() {
-
-while (1) {  
-
-
-my_servo.set(24);
-wait(4); 
-my_servo.set(73);
-wait(4); 
-my_servo.set(98);
-wait(4);
-
-
-    }
+int main()
+{
+      for(int i = 10 ; i < 100; i+=5 )
+      {
+        my_servo.set(i);
+        wait(4);
+      }
 }