ECE 111 At Oregon State University / Mbed 2 deprecated Lab6_Basic

Simply creates a servo object from a motor object, to allow the control of the angle. uses the solar panel to look for the brightest spot, then stops.

Dependencies:   mbed

Fork of Lab6_Basic by ECE 111 At Oregon State University

Servo.cpp@4:b3a93554fedf, 2016-11-17 (annotated)

Committer:
ziadeldebri
Date:
Thu Nov 17 23:15:10 2016 +0000
Revision:
4:b3a93554fedf
Parent:
3:b787aa49b900
Child:
6:65dfd3886629
Basic Lab6

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ziadeldebri 3:b787aa49b900 1 #include "mbed.h"
ziadeldebri 3:b787aa49b900 2 #include "Servo.h"
ziadeldebri 3:b787aa49b900 3 // gloabl varevlbe used only inseide the class
ziadeldebri 3:b787aa49b900 4 int value_current;
ziadeldebri 3:b787aa49b900 5 int value_target;
ziadeldebri 4:b3a93554fedf 6 int sum;
ziadeldebri 3:b787aa49b900 7 float value_target_raw;
ziadeldebri 3:b787aa49b900 8 Ticker tick;
ziadeldebri 3:b787aa49b900 9 SLCD slcd;
ziadeldebri 3:b787aa49b900 10 int n;
ziadeldebri 3:b787aa49b900 11 int counter;
ziadeldebri 3:b787aa49b900 12 char buffer[50];
ziadeldebri 3:b787aa49b900 13
ziadeldebri 3:b787aa49b900 14 Servo::Servo(PinName analog_input,PinName Positive, PinName Negative,PinName Speed):
ziadeldebri 3:b787aa49b900 15 _feedback(analog_input),_motor(Positive,Negative,Speed) {
ziadeldebri 4:b3a93554fedf 16 sum=0;
ziadeldebri 3:b787aa49b900 17
ziadeldebri 3:b787aa49b900 18 }
ziadeldebri 3:b787aa49b900 19 /* input is angle intger from 0 - 180
ziadeldebri 3:b787aa49b900 20 *
ziadeldebri 3:b787aa49b900 21 */
ziadeldebri 3:b787aa49b900 22 void Servo::set(int degree) {
ziadeldebri 3:b787aa49b900 23 if(degree > 90){
ziadeldebri 3:b787aa49b900 24 value_target = degree; // set the value target as the input of the function
ziadeldebri 3:b787aa49b900 25 tick.attach(this,&Servo::move,0.001); // set the ticker to call move every 0.001 sec
ziadeldebri 3:b787aa49b900 26 }
ziadeldebri 3:b787aa49b900 27 else{
ziadeldebri 3:b787aa49b900 28 value_target = degree-15; // set the value target as the input of the function
ziadeldebri 3:b787aa49b900 29 tick.attach(this,&Servo::move,0.001);
ziadeldebri 3:b787aa49b900 30 }
ziadeldebri 3:b787aa49b900 31
ziadeldebri 3:b787aa49b900 32 }//End of Move
ziadeldebri 3:b787aa49b900 33
ziadeldebri 3:b787aa49b900 34 void Servo::move() {
ziadeldebri 3:b787aa49b900 35
ziadeldebri 3:b787aa49b900 36 value_current = (int)((int)(_feedback*1000)*0.30769230769);
ziadeldebri 3:b787aa49b900 37
ziadeldebri 3:b787aa49b900 38 if(value_target > value_current){
ziadeldebri 3:b787aa49b900 39 _motor.Direction(LEFT);
ziadeldebri 3:b787aa49b900 40 // _motor.Speed(10);
ziadeldebri 3:b787aa49b900 41 //wait(0.1);
ziadeldebri 3:b787aa49b900 42 n = sprintf (buffer, "%d", value_current);
ziadeldebri 3:b787aa49b900 43 slcd.clear();
ziadeldebri 3:b787aa49b900 44 slcd.Home();
ziadeldebri 3:b787aa49b900 45 slcd.printf(buffer);
ziadeldebri 3:b787aa49b900 46 }
ziadeldebri 3:b787aa49b900 47 else if(value_target < value_current){
ziadeldebri 3:b787aa49b900 48 _motor.Direction(RIGHT);
ziadeldebri 3:b787aa49b900 49 // _motor.Speed(counter);
ziadeldebri 3:b787aa49b900 50 n = sprintf (buffer, "%d", value_current);
ziadeldebri 3:b787aa49b900 51 slcd.clear();
ziadeldebri 3:b787aa49b900 52 slcd.Home();
ziadeldebri 3:b787aa49b900 53 slcd.printf(buffer);
ziadeldebri 3:b787aa49b900 54 }
ziadeldebri 3:b787aa49b900 55 else if((value_target == value_current))
ziadeldebri 3:b787aa49b900 56 {
ziadeldebri 3:b787aa49b900 57 tick.detach();
ziadeldebri 3:b787aa49b900 58 _motor.Stop();
ziadeldebri 3:b787aa49b900 59 n = sprintf (buffer, "%d", value_current);
ziadeldebri 3:b787aa49b900 60 slcd.clear();
ziadeldebri 3:b787aa49b900 61 slcd.Home();
ziadeldebri 3:b787aa49b900 62 slcd.printf(buffer);
ziadeldebri 3:b787aa49b900 63 }
ziadeldebri 3:b787aa49b900 64
ziadeldebri 3:b787aa49b900 65
ziadeldebri 3:b787aa49b900 66
ziadeldebri 3:b787aa49b900 67 }
ziadeldebri 3:b787aa49b900 68
ziadeldebri 3:b787aa49b900 69
ziadeldebri 3:b787aa49b900 70
ziadeldebri 3:b787aa49b900 71 void Servo::check() {
ziadeldebri 3:b787aa49b900 72
ziadeldebri 4:b3a93554fedf 73
ziadeldebri 4:b3a93554fedf 74 for (int j = 0; j < 100; j++){
ziadeldebri 4:b3a93554fedf 75 sum += _feedback.read_u16();
ziadeldebri 4:b3a93554fedf 76 }
ziadeldebri 4:b3a93554fedf 77 value_current = sum / 100;
ziadeldebri 4:b3a93554fedf 78 sum = 0;
ziadeldebri 4:b3a93554fedf 79
ziadeldebri 4:b3a93554fedf 80 n = sprintf (buffer, "%x", value_current);
ziadeldebri 3:b787aa49b900 81 slcd.clear();
ziadeldebri 3:b787aa49b900 82 slcd.Home();
ziadeldebri 3:b787aa49b900 83 slcd.printf(buffer);
ziadeldebri 3:b787aa49b900 84
ziadeldebri 3:b787aa49b900 85 }
ziadeldebri 3:b787aa49b900 86
ziadeldebri 3:b787aa49b900 87
ziadeldebri 3:b787aa49b900 88