SCRIBE
/
SCRIBE_servo
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: BLE_nRF8001 BNO055 HC_SR04_Ultrasonic_Library mbed-rtos mbed
Fork of
SCRIBE_stepper
by 
SCRIBE
Revision 6:91ff95c9a44e, committed 2016-05-04
- Comitter:
- nibab
- Date:
- Wed May 04 23:32:45 2016 +0000
- Parent:
- 5:1da4d4050306
- Child:
- 7:1bb3b5b66fe8
- Commit message:
- The servo version. Delete stepper.h and stepper.cpp. Add servo.h and servo.cpp
Changed in this revision
--- a/localization.lib Mon Apr 25 05:38:48 2016 +0000 +++ b/localization.lib Wed May 04 23:32:45 2016 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/teams/SCRIBE/code/localization/#fcdba69a0c22 +https://developer.mbed.org/teams/SCRIBE/code/localization/#91db52943f3e
--- a/mbed-rtos.lib Mon Apr 25 05:38:48 2016 +0000 +++ b/mbed-rtos.lib Wed May 04 23:32:45 2016 +0000 @@ -1,1 +1,1 @@ -http://developer.mbed.org/users/mbed_official/code/mbed-rtos/#bdd541595fc5 +http://developer.mbed.org/users/mbed_official/code/mbed-rtos/#162b12aea5f2
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/servo.cpp Wed May 04 23:32:45 2016 +0000
@@ -0,0 +1,34 @@
+#include "mbed.h"
+
+PwmOut pin25(p25);
+PwmOut pin26(p26);
+
+void servo_reset(){
+ pin25.period_ms(20); //Set the period: 20ms
+ pin26.period_ms(20); //Set the period: 20ms
+}
+
+void servo_f(){
+ pin25.pulsewidth_us(1300);
+ pin26.pulsewidth_us(1700);
+}
+
+void servo_b(){
+ pin25.pulsewidth_us(1700);
+ pin26.pulsewidth_us(1300);
+}
+
+void servo_right(){
+ pin25.pulsewidth_us(1700);
+ pin26.pulsewidth_us(1700);
+}
+
+void servo_left(){
+ pin25.pulsewidth_us(1300);
+ pin26.pulsewidth_us(1300);
+}
+
+void servo_stop(){
+ pin25.pulsewidth_us(1500);
+ pin26.pulsewidth_us(1515);
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/servo.h Wed May 04 23:32:45 2016 +0000 @@ -0,0 +1,11 @@ +void servo_reset(); + +void servo_f(); + +void servo_b(); + +void servo_left(); + +void servo_right(); + +void servo_stop(); \ No newline at end of file
--- a/stepper.cpp Mon Apr 25 05:38:48 2016 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,319 +0,0 @@
-#include "mbed.h";
-
-DigitalOut yellow_l(p9);
-DigitalOut orange_l(p14);
-DigitalOut brown_l(p15);
-DigitalOut black_l(p16);
-
-DigitalOut yellow_r(p17);
-DigitalOut orange_r(p18);
-DigitalOut brown_r(p19);
-DigitalOut black_r(p20);
-
-int wait_t = 60;
-int case_stepf = 0;
-int case_right = 0;
-int case_left = 0;
-int case_rone = 0;
-
-
-//StepperMotorUni motor( p17, p18, p19, p20);
-int step_f(){
- switch(case_stepf){
- case 0:
- //step 0101
- black_l = 0;
- orange_l = 0;
- brown_l = 1;
- yellow_l = 1;
- black_r = 1;
- orange_r = 0;
- brown_r = 0;
- yellow_r = 1;
-
- wait_ms(wait_t);
- case_stepf=1;
- break;
-
- case 1:
- //step 1100
- black_l = 0;
- orange_l = 1;
- brown_l = 1;
- yellow_l = 0;
- black_r = 1;
- orange_r = 1;
- brown_r = 0;
- yellow_r = 0;
-
- wait_ms(wait_t);
- case_stepf=2;
- break;
-
- case 2:
- //step 1010
- black_l = 1;
- orange_l = 1;
- brown_l = 0;
- yellow_l = 0;
- black_r = 0;
- orange_r = 1;
- brown_r = 1;
- yellow_r = 0;
-
- wait_ms(wait_t);
- case_stepf = 3;
- break;
-
- case 3:
- //step 0011
- black_l = 1;
- orange_l = 0;
- brown_l = 0;
- yellow_l = 1;
- black_r = 0;
- orange_r = 0;
- brown_r = 1;
- yellow_r = 1;
-
- wait_ms(wait_t);
- case_stepf = 0;
- break;
- }
- return 1;
-}
-
-
-int step_b(){
- //step 0101
- black_r = 0;
- orange_r = 0;
- brown_r = 1;
- yellow_r = 1;
- black_l = 1;
- orange_l = 0;
- brown_l = 0;
- yellow_l = 1;
-
- wait_ms(wait_t);
-
- //step 1100
- black_r = 0;
- orange_r = 1;
- brown_r = 1;
- yellow_r = 0;
- black_l = 1;
- orange_l = 1;
- brown_l = 0;
- yellow_l = 0;
-
- wait_ms(wait_t);
-
- //step 1010
- black_r = 1;
- orange_r = 1;
- brown_r = 0;
- yellow_r = 0;
- black_l = 0;
- orange_l = 1;
- brown_l = 1;
- yellow_l = 0;
-
- wait_ms(wait_t);
-
- //step 0011
- black_r = 1;
- orange_r = 0;
- brown_r = 0;
- yellow_r = 1;
- black_l = 0;
- orange_l = 0;
- brown_l = 1;
- yellow_l = 1;
-
- wait_ms(wait_t);
-
- return 1;
-}
-
-int step_right(){
- switch(case_right){
- case 0:
- //step 0101
- black_r = 0;
- orange_r = 0;
- brown_r = 1;
- yellow_r = 1;
- black_l = 0;
- orange_l = 0;
- brown_l = 1;
- yellow_l = 1;
-
- wait_ms(wait_t);
- case_right = 1;
- break;
-
- case 1:
- //step 1100
- black_r = 0;
- orange_r = 1;
- brown_r = 1;
- yellow_r = 0;
- black_l = 0;
- orange_l = 1;
- brown_l = 1;
- yellow_l = 0;
-
- wait_ms(wait_t);
- case_right = 2;
- break;
-
-
- case 2:
- //step 1010
- black_r = 1;
- orange_r = 1;
- brown_r = 0;
- yellow_r = 0;
- black_l = 1;
- orange_l = 1;
- brown_l = 0;
- yellow_l = 0;
-
- wait_ms(wait_t);
- case_right = 3;
- break;
-
-
- case 3:
- //step 0011
- black_r = 1;
- orange_r = 0;
- brown_r = 0;
- yellow_r = 1;
- black_l = 1;
- orange_l = 0;
- brown_l = 0;
- yellow_l = 1;
-
- wait_ms(wait_t);
- case_right = 0;
- break;
- }
- return 1;
-}
-
-
-int step_left(){
- switch(case_left){
- case 0:
- //step 0011
- black_l = 1;
- orange_l = 0;
- brown_l = 0;
- yellow_l = 1;
- black_r = 1;
- orange_r = 0;
- brown_r = 0;
- yellow_r = 1;
-
- wait_ms(wait_t);
- case_left = 1;
- break;
-
- case 1:
- black_l = 1;
- orange_l = 1;
- brown_l = 0;
- yellow_l = 0;
- black_r = 1;
- orange_r = 1;
- brown_r = 0;
- yellow_r = 0;
-
- wait_ms(wait_t);
- case_left = 2;
- break;
-
- case 2:
- black_l = 0;
- orange_l = 1;
- brown_l = 1;
- yellow_l = 0;
- black_r = 0;
- orange_r = 1;
- brown_r = 1;
- yellow_r = 0;
-
- wait_ms(wait_t);
- case_left = 3;
- break;
-
- case 3:
- black_l = 0;
- orange_l = 0;
- brown_l = 1;
- yellow_l = 1;
- black_r = 0;
- orange_r = 0;
- brown_r = 1;
- yellow_r = 1;
-
- wait_ms(wait_t);
-
- case_left = 0;
- break;
- }
- return 1;
-}
-
-int step_rone(){
- switch(case_rone){
- case 0:
- //step 0101
- black_r = 0;
- orange_r = 0;
- brown_r = 1;
- yellow_r = 1;
-
- wait_ms(wait_t);
- case_right = 1;
- break;
-
- case 1:
- //step 1100
- black_r = 0;
- orange_r = 1;
- brown_r = 1;
- yellow_r = 0;
-
- wait_ms(wait_t);
- case_right = 2;
- break;
-
-
- case 2:
- //step 1010
- black_r = 1;
- orange_r = 1;
- brown_r = 0;
- yellow_r = 0;
-
- wait_ms(wait_t);
- case_right = 3;
- break;
-
-
- case 3:
- //step 0011
- black_r = 1;
- orange_r = 0;
- brown_r = 0;
- yellow_r = 1;
-
- wait_ms(wait_t);
- case_right = 0;
- break;
- }
- return 1;
-}
--- a/stepper.h Mon Apr 25 05:38:48 2016 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,9 +0,0 @@ -int step_f(); - -int step_b(); - -int step_left(); - -int step_right(); - -int step_rone(); \ No newline at end of file