Revision 0:f21fa73a3db3, committed 2018-03-19

Comitter:

cpul5338

Date:

Mon Mar 19 09:12:35 2018 +0000

Commit message:

Robotics_Lab_Servo

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Mar 19 09:12:35 2018 +0000
@@ -0,0 +1,59 @@
+#include "mbed.h"
+
+//****************************************************************************** Define
+//The number will be compiled as type "double" in default
+//Add a "f" after the number can make it compiled as type "float"
+#define Ts 0.01f    //period of timer1 (s)
+#define Servo_Period 20
+//****************************************************************************** End of Define
+
+//****************************************************************************** I/O
+//PWM
+PwmOut servo(A0);
+//Timer Setting
+Ticker timer;
+//****************************************************************************** End of I/O
+
+//****************************************************************************** Functions
+void init_timer(void);
+void init_PWM(void);
+void timer_interrupt(void);
+//****************************************************************************** End of Functions
+
+//****************************************************************************** Variables
+// Servo
+float servo_duty = 0.066; // 0.025~0.115(-90~+90)(not linear, so the experiment is needed)
+//****************************************************************************** End of Variables
+
+//****************************************************************************** Main
+int main()
+{
+    init_timer();
+    init_PWM();
+    while(1)
+    {
+    }
+}
+//****************************************************************************** End of Main
+
+//****************************************************************************** timer_interrupt
+void timer_interrupt()
+{
+    // Code for servo motor    
+}
+//****************************************************************************** End of timer_interrupt
+
+//****************************************************************************** init_timer
+void init_timer()
+{
+     timer.attach_us(&timer_interrupt, 10000);//10ms interrupt period (100 Hz)
+}
+//****************************************************************************** End of init_timer
+
+//****************************************************************************** init_PWM
+void init_PWM()
+{
+    servo.period_ms(Servo_Period);
+    servo.write(servo_duty);
+}
+//****************************************************************************** End of init_PWM
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Mar 19 09:12:35 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/aa5281ff4a02
\ No newline at end of file