Union test running for robot arm servos & motor
Dependencies: mbed BufferedSerial LSCServo DC_Stepper_Controller_Lib
Diff: main.cpp
- Revision:
- 1:1eb3a5a00fbb
- Parent:
- 0:901a3ec83ba4
--- a/main.cpp Thu Jun 03 04:56:59 2021 +0000 +++ b/main.cpp Thu Jun 03 07:42:11 2021 +0000 @@ -1,8 +1,3 @@ -/******************************************************* - DC MODOR CONTROLLER LIBRARY - ******************************************************* - IMPORTANT: GO TO README FOR DOCUMENT! -********************************************************/ #include "mbed.h" #include "LSCServo.h" @@ -27,24 +22,28 @@ } wait(0.5); - motor.reset(); + //motor.reset(); wait(0.5); - motor.move_angle(615); - wait(2); - - robot_arm.moveServos(3,1000,2,185,3,560,4,0); // initial pos to put an arrow + motor.move_angle(620); wait(2); - robot_arm.moveServos(3,1000,2,185,3,560,4,800); // catch/crawl the arror - robot_arm.moveServos(3,1000,2,185,3,190,4,800); // rotate down - wait(2); - robot_arm.moveServos(3,1500,2,760,3,190,4,800); // rotate left - wait(2); - - robot_arm.moveServos(3,1000,2,580,3,190,4,0); // open the crawler - //robot_arm.moveServos(3,1000,2,600,3,190,4,0); // rotate a little back - motor.move_angle(420); - - robot_arm.moveServos(3,1000,2,185,3,560,4,0); // reset to init - + for(int i =0; i < 5; i++) + { + + robot_arm.moveServos(3,1000,2,185,3,560,4,0); // initial pos to put an arrow + wait(2); + + robot_arm.moveServos(3,1000,2,185,3,560,4,800); // catch/crawl the arror + robot_arm.moveServos(3,1000,2,185,3,190,4,800); // rotate down + wait(2); + robot_arm.moveServos(3,1500,2,760,3,190,4,800); // rotate left + wait(2); + + robot_arm.moveServos(3,1000,2,560,3,190,4,0); // open the crawler + //robot_arm.moveServos(3,1000,2,600,3,190,4,0); // rotate a little back + motor.move_angle(412); + + robot_arm.moveServos(3,1000,2,185,3,560,4,0); // reset to init + } + } \ No newline at end of file