Includes both the servo and Dc motor. Needs more comments on the servo side.
Dependencies: Motor Servo mbed
Fork of lab3integrated by
lab3integrated.cpp
- Committer:
- corwinstites
- Date:
- 2018-10-03
- Revision:
- 2:df17a1850217
- Parent:
- 1:efdd0b0bbdbc
File content as of revision 2:df17a1850217:
//Integrated Servo and Motor // MIDN 3/C Stites and Maly // Modified 10/2/18 #include "mbed.h" #include "Servo.h" #include "Motor.h" //Preprocessors to include Servo and Motor Servo kenny(p21); // Assigns pins to control two servos (kenny and barb) Servo barb(p22); Motor m(p26, p29, p30); // Assigns the PwmOut (pwm) pin, DigitalOut (fwd) pin, and Digital Out (rev) pin int main() { barb.calibrate(0.0009,90); // Calibrates the servo motors kenny.calibrate(0.0009,90); kenny = 0; // Sets servo kenny at the begining of his 180 degree rotation barb = 1; // Sets servo barb at the end of her 180 degree rotation float k = 0.2; // value of initial speed & variable to define speed float i, j; // used in 'for' loops while(1) // Continue to repeat { for(k=0.2; k<1.0; k += 0.1) //Increases the value of k from 0.2 to 0.99. k is the speed of DC Motor { m.speed(k); // Sets the speed of the DC Motor to whatever value k is as it increases for (i=0; i<90; i++) // This 'for' loop turns the two Servos in opposite directions. { // It is set after the speed of the Motor is set so they move along with the DC Motor barb = 1 - i*0.0111; // Moves barb backwards 2 degrees kenny = i*0.0111; // Moves kenny forwards 2 degrees wait(.0555); //Wait .0555 seconds before moving the servos again (when this loop is repeated 90 times it takes 5 seconds) } m.speed(-k); //Sets the speed of the DC motor in the opposite direction at k speed. for (j=0; j<90; j++)// This 'for' loop turns the two Servos in opposite directions from each other and from the step before. {// It is set after the speed/direction change of the DC Motor so the Servos change direction the same time the DC motors do. kenny = 1 - j*0.0111; //Now that the starting positions of kenny and barb are reversed this reverses the above process. barb = j*0.0111; wait(.0555); } } m.speed(1); // This is for when the DC motor reaches full speed, which is 1. This will start at the end of the 'for' loop of the DC motor speed (k). for (i=0; i<90; i++)// Again, a 'for' loop to turn the two Servo motors in opposite directions while the DC motor turns. { barb = 1 - i*0.0111; //Repeats above process indefinetly kenny = i*0.0111; wait(.0555); } m.speed(-1); // Turns the DC motor at full speed in the opposite direction. for (j=0; j<90; j++)// Again, a 'for' loop to turn the two Servo motors in opposite directions while the DC motor turns. { kenny = 1 - j*0.0111; //Reverses above process indefinetly barb = j*0.0111; wait(.0555); } } }