Revision 0:7ec5279f429e, committed 2016-05-24

Comitter:

cpul5338

Date:

Tue May 24 05:16:21 2016 +0000

Commit message:

123;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue May 24 05:16:21 2016 +0000
@@ -0,0 +1,110 @@
+/*LAB_SERVO*/
+#include "mbed.h"
+
+PwmOut servo(A0);
+Serial bluetooth(D10,D2);
+Serial pc(D1,D0);
+
+//LED1 = D13 = PA_5 (LED on Nucleo board)
+DigitalOut led1(A4);
+DigitalOut led2(A5);
+int counter;
+int angle = 0;
+
+Ticker timer1;
+void timer1_interrupt(void);
+
+void init_TIMER(void);
+void init_IO(void); 
+void flash(void);
+
+//Variable(s) for internal control
+float servo_duty = 0.079;//0.079 +(0.084/180)*angle, -90<angle<90
+
+
+int main (void)
+{    
+    init_IO();
+    init_TIMER();
+    bluetooth.baud(115200); //設定鮑率
+    pc.baud(57600);
+    
+    while(1)
+    {
+        if(pc.readable())
+        {
+            bluetooth.putc(pc.getc());
+        }
+        if(bluetooth.readable())
+        {
+            pc.putc(bluetooth.getc());
+        }
+    }       
+}
+
+void timer1_interrupt(void)
+{   
+    counter++;
+    if(counter == 100)
+    {    
+        led1 = 1;
+        wait(1);
+        led1 = 0;         
+    }
+    else if(counter == 200)
+    {    
+        led2 = 1;
+        counter = 0;
+        wait(1);
+        led2 = 0;        
+    }
+    
+ //////code for internal control//////
+ 
+    switch(bluetooth.getc()){
+        case 'a':
+            angle = 30; 
+        break;
+        case 'b':
+            angle = 60; 
+        break;
+        case 'c':
+            angle = 90; 
+        break;
+        case 'd':
+            angle = 0;
+        break;
+        
+        }
+    
+    
+
+    servo_duty = 0.079 + (0.084/180)*angle;
+    servo.write(servo_duty);
+    servo = 1;
+    wait(0.1);       
+    servo = 0;   
+            
+ ////////////////////////////////////////////   
+    
+    if(servo_duty >= 0.121f)servo_duty = 0.121;
+    else if(servo_duty <= 0.037f)servo_duty = 0.037;
+    servo.write(servo_duty);
+}
+
+void init_TIMER(void)
+{
+    timer1.attach_us(&timer1_interrupt, 10000);//10ms interrupt period (100 Hz)
+}
+       
+void init_IO(void)
+{
+    counter = 0;
+    led1 = 0;
+    led2 = 0;
+}         
+   
+void flash(void)
+{
+    led1 = !led1;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue May 24 05:16:21 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/c0f6e94411f5
\ No newline at end of file