GDP 4 / Mbed 2 deprecated mbed_transferfunction

Steering Servo Step responses

Dependencies:   FRDM-TFC mbed

main.cpp@0:4a3f069b314a, 2016-11-24 (annotated)

Committer:
oj3g13
Date:
Thu Nov 24 10:39:45 2016 +0000
Revision:
0:4a3f069b314a
Mbed initialises servos, waits 3 seconds, moves servo to different PWM values at random time intervals

Who changed what in which revision?

UserRevisionLine numberNew contents of line
oj3g13 0:4a3f069b314a 1 #include "mbed.h"
oj3g13 0:4a3f069b314a 2 #include "TFC.h"
oj3g13 0:4a3f069b314a 3 #define MULTIPLIER 0.25
oj3g13 0:4a3f069b314a 4
oj3g13 0:4a3f069b314a 5 DigitalOut gpo(D0);
oj3g13 0:4a3f069b314a 6
oj3g13 0:4a3f069b314a 7 int main()
oj3g13 0:4a3f069b314a 8 {
oj3g13 0:4a3f069b314a 9 TFC_Init();
oj3g13 0:4a3f069b314a 10 TFC_InitServos(0.00052,0.00122,0.02);
oj3g13 0:4a3f069b314a 11 float i;
oj3g13 0:4a3f069b314a 12 wait(3);
oj3g13 0:4a3f069b314a 13 float rand_max=RAND_MAX;
oj3g13 0:4a3f069b314a 14 while(true)
oj3g13 0:4a3f069b314a 15 {
oj3g13 0:4a3f069b314a 16 i = (rand()/rand_max)*MULTIPLIER;
oj3g13 0:4a3f069b314a 17
oj3g13 0:4a3f069b314a 18
oj3g13 0:4a3f069b314a 19
oj3g13 0:4a3f069b314a 20
oj3g13 0:4a3f069b314a 21 gpo = !gpo; // toggle pin
oj3g13 0:4a3f069b314a 22 TFC_SetServo(0,-1.0);
oj3g13 0:4a3f069b314a 23 wait(i);
oj3g13 0:4a3f069b314a 24 i = (rand()/rand_max)*MULTIPLIER;
oj3g13 0:4a3f069b314a 25
oj3g13 0:4a3f069b314a 26 gpo = !gpo;
oj3g13 0:4a3f069b314a 27 TFC_SetServo(0,0.4);
oj3g13 0:4a3f069b314a 28 wait(i);
oj3g13 0:4a3f069b314a 29 i = (rand()/rand_max)*MULTIPLIER;
oj3g13 0:4a3f069b314a 30
oj3g13 0:4a3f069b314a 31 gpo = !gpo;
oj3g13 0:4a3f069b314a 32 TFC_SetServo(0,0);
oj3g13 0:4a3f069b314a 33 wait(i);
oj3g13 0:4a3f069b314a 34 i = (rand()/rand_max)*MULTIPLIER;
oj3g13 0:4a3f069b314a 35
oj3g13 0:4a3f069b314a 36 gpo = !gpo;
oj3g13 0:4a3f069b314a 37 TFC_SetServo(0,-0.6);
oj3g13 0:4a3f069b314a 38 wait(i);
oj3g13 0:4a3f069b314a 39 i = (rand()/rand_max)*MULTIPLIER;
oj3g13 0:4a3f069b314a 40
oj3g13 0:4a3f069b314a 41 gpo = !gpo;
oj3g13 0:4a3f069b314a 42 TFC_SetServo(0,-0.5);
oj3g13 0:4a3f069b314a 43 wait(i);
oj3g13 0:4a3f069b314a 44 i = (rand()/rand_max)*MULTIPLIER;
oj3g13 0:4a3f069b314a 45
oj3g13 0:4a3f069b314a 46 gpo = !gpo;
oj3g13 0:4a3f069b314a 47 TFC_SetServo(0,-0.7);
oj3g13 0:4a3f069b314a 48 wait(i);
oj3g13 0:4a3f069b314a 49 i = (rand()/rand_max)*MULTIPLIER;
oj3g13 0:4a3f069b314a 50
oj3g13 0:4a3f069b314a 51 gpo = !gpo;
oj3g13 0:4a3f069b314a 52 TFC_SetServo(0,0.9);
oj3g13 0:4a3f069b314a 53 wait(i);
oj3g13 0:4a3f069b314a 54 i = (rand()/rand_max)*MULTIPLIER;
oj3g13 0:4a3f069b314a 55
oj3g13 0:4a3f069b314a 56 gpo = !gpo;
oj3g13 0:4a3f069b314a 57 TFC_SetServo(0,0.5);
oj3g13 0:4a3f069b314a 58 wait(i);
oj3g13 0:4a3f069b314a 59 i = (rand()/rand_max)*MULTIPLIER;
oj3g13 0:4a3f069b314a 60
oj3g13 0:4a3f069b314a 61 }
oj3g13 0:4a3f069b314a 62 }