NagaokaRoboticsClub_mbedTeam / Mbed 2 deprecated 2021_NHK_A_MDandServoSet

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Dependencies:   mbed SoftPWM Servo_softpwm IR2302

main.cpp

Committer:
umekou
Date:
2021-09-28
Revision:
0:710db3044013
Child:
1:e385a2004a95

File content as of revision 0:710db3044013:

#include "mbed.h"
#include "Servo.h"
#include "ikarashiMDC.h"
 
DigitalOut stop(D13);
Serial serial(PC_10,PC_11,115200);
Serial pc(USBTX, USBRX,115200);
Timer t;
Servo servo[6]={PB_15,PB_10,PB_4,PB_5,PB_3,PA_10};

ikarashiMDC motor[] = {
    ikarashiMDC(0,0,SM,&serial),
    ikarashiMDC(0,1,SM,&serial),
    ikarashiMDC(0,2,SM,&serial),
    ikarashiMDC(0,3,SM,&serial)
};

int main()
{
    stop=1;
    float servoValue[6]={0.0,0.0,0.0,0.0,0.0,0.0};
    float time;
    int i;
    for(i=0;i<6;i++){
        servo[i].calibrate(0.00095, 90);
    }
    t.start();
    while(1){
        time=t.read();
        for(i=0;i<6;i++){
            servoValue[i]=(sin(time)+1.0)/2.0;
        }
                // サーボの値をservoValueに代入（0度が0，90度が0.5，180度が1.0）
        for(int i=0; i<4; i++){
            motor[i].setSpeed(sin(2.0*3.14*0.2*t.read())*0.5);
        }
        for(i=0;i<6;i++){
            servo[i].write(servoValue[i]);
        }
    }
}