M9 Biorobotics Group 8 / Mbed 2 deprecated servomotorcode

servo motor werkt eindelijk!!!! wiehoe!!!

Dependencies:   mbed QEI Servo HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@6:69f112e63de9, 2019-10-31 (annotated)

Committer:
freek100
Date:
Thu Oct 31 14:48:14 2019 +0000
Revision:
6:69f112e63de9
Parent:
5:e21d303d62d8 
servomotor code met externe button

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IsaRobin 4:d3e8ec68ff97 1 /* servo motor program - biorbotics group 8 */
jasperkessels 0:009a005982e5 2
freek100 6:69f112e63de9 3 #include "Servo.h"
freek100 6:69f112e63de9 4 #include "mbed.h"
freek100 6:69f112e63de9 5 #include "HIDScope.h"
freek100 6:69f112e63de9 6 #include "QEI.h"
freek100 6:69f112e63de9 7 #include "MODSERIAL.h"
freek100 6:69f112e63de9 8 #include "BiQuad.h"
freek100 6:69f112e63de9 9 #include "FastPWM.h"
jasperkessels 0:009a005982e5 10
IsaRobin 4:d3e8ec68ff97 11 MODSERIAL pc(USBTX, USBRX); //connect pc
IsaRobin 4:d3e8ec68ff97 12 Servo myservo(D3); //the servo motor is connected to pin D3 on the BioRobotics shield
freek100 6:69f112e63de9 13 DigitalIn extButton1 (D2);
IsaRobin 5:e21d303d62d8 14 //Button that will be used to control the servo motor
IsaRobin 5:e21d303d62d8 15 InterruptIn button2(SW2); //when this button is pushed for the first time, the servo motor rotates to show the card to the user, when the button is pushed for the second time the servo motor rotates the card away from the user
IsaRobin 5:e21d303d62d8 16
IsaRobin 5:e21d303d62d8 17 bool showcard=0;
freek100 6:69f112e63de9 18 bool butt1;
freek100 6:69f112e63de9 19 Ticker Servoticker;
jasperkessels 0:009a005982e5 20
IsaRobin 5:e21d303d62d8 21 void changeservo()
IsaRobin 5:e21d303d62d8 22 {
freek100 6:69f112e63de9 23 butt1= extButton1.read();
freek100 6:69f112e63de9 24 if (butt1==1){
IsaRobin 3:f30c2ded1a58 25 myservo.SetPosition(2000);
IsaRobin 5:e21d303d62d8 26 showcard=!showcard;
IsaRobin 5:e21d303d62d8 27 }
IsaRobin 5:e21d303d62d8 28
IsaRobin 5:e21d303d62d8 29 else {
IsaRobin 3:f30c2ded1a58 30 myservo.SetPosition(1000);
IsaRobin 5:e21d303d62d8 31 showcard=!showcard;
IsaRobin 5:e21d303d62d8 32 }
IsaRobin 3:f30c2ded1a58 33 }
jasperkessels 0:009a005982e5 34
jasperkessels 0:009a005982e5 35 int main()
jasperkessels 0:009a005982e5 36 {
freek100 6:69f112e63de9 37
IsaRobin 1:1b33fd02e6b1 38 pc.baud(115200);
freek100 6:69f112e63de9 39 pc.printf("Starting...");
freek100 6:69f112e63de9 40
IsaRobin 3:f30c2ded1a58 41 myservo.Enable(1000,20000);
freek100 6:69f112e63de9 42
freek100 6:69f112e63de9 43 Servoticker.attach(changeservo,0.01);
freek100 6:69f112e63de9 44 extButton1.mode(PullUp);
freek100 6:69f112e63de9 45
freek100 6:69f112e63de9 46
jasperkessels 0:009a005982e5 47 while(true) {
freek100 6:69f112e63de9 48 pc.printf("Button1: %i \r\n", butt1);
freek100 6:69f112e63de9 49 wait(0.5);
IsaRobin 3:f30c2ded1a58 50 }
IsaRobin 3:f30c2ded1a58 51 }
jasperkessels 0:009a005982e5 52
jasperkessels 0:009a005982e5 53
jasperkessels 0:009a005982e5 54
IsaRobin 3:f30c2ded1a58 55
IsaRobin 4:d3e8ec68ff97 56