NagaokaRoboticsClub_mbedTeam / Mbed 2 deprecated 2021_NHK_A_MDandServoSet

setting program for Hexarugon

Dependencies:   mbed SoftPWM Servo_softpwm IR2302

Files at this revision

API Documentation at this revision

Revision 3:559589cd51de, committed 2021-10-30

Comitter:
umekou
Date:
Sat Oct 30 00:19:02 2021 +0000
Parent:
2:b8e36dfae8e0
Commit message:
defined default servo angle

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r b8e36dfae8e0 -r 559589cd51de main.cpp
--- a/main.cpp	Fri Oct 29 11:53:54 2021 +0000
+++ b/main.cpp	Sat Oct 30 00:19:02 2021 +0000
@@ -1,6 +1,8 @@
 #include "mbed.h"
 #include "Servo.h"
 #include "IR2302.h"
+
+#define DSA 0.8//default servo angle:サーボの初期角度の値
  
 DigitalOut stop(D13);
 IR2302 ir2302(D7,D8);
@@ -13,9 +15,8 @@
 int main()
 {
     stop=1;
-    float servoValue[3]={0.9,0.9,0.9};
-    float time;
-    float angle=0.9;
+    float servoValue[3]={DSA,DSA,DSA};
+    float angle=DSA;
     int i,j;
     for(int i=0;i < 3; i++)servo[i].calibrate(0.00095, 90);
     for(i=0;i<3;i++) servo[i].write(servoValue[i]);
@@ -54,15 +55,4 @@
         }
         for(i=0;i<3;i++) servo[i].write(servoValue[i]);
     }
-    /*
-    while(1){
-        time=t.read();
-        for(i=0;i<3;i++){
-            servoValue[i]=sin(time);
-        }
-        for(i=0;i<3;i++){
-            servo[i].pulsewidth_us((int)(950.0 * servoValue[i] + 1450));
-        }
-    }
-    */
-}
+}
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