TRR 2018 / Mbed 2 deprecated biniou-TRR2019-chassis2

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Dependencies:   mbed MPU6050

sm_servo.cpp

Committer:
GaspardD
Date:
2019-09-29
Revision:
3:1b7eb426247e
Parent:
2:e9d928fd327a
Child:
4:efa207509f63

File content as of revision 3:1b7eb426247e:

#include "sm_servo.h"

PwmOut pwm_Servo(PE_9);
E_STATE_SERVO e_stateServo;
bool directionCheck = false;

void init_sm_servo()
{
    e_stateServo = SERVO_INIT;
}

void update_sm_servo()
{
    E_STATE_SERVO next_state = e_stateServo;

    switch(e_stateServo) {
        case SERVO_INIT:
            if(directionCheck) {
                next_state = SERVO_COMMAND;
            }
            break;
        case SERVO_COMMAND:
            break;
        default:
            break;
    }

    e_stateServo = next_state;
    return;
}

void output_sm_servo()
{
    switch(e_stateServo) {
        case SERVO_INIT:
            wait(1);
            pc.printf("init servo with pulse %d us\n",SERVO_PULSE_MIDDLE_US);
            pwm_Servo.period_ms(SERVO_PERIOD_DURATION_MS);
            pwm_Servo.pulsewidth_us(SERVO_PULSE_MIDDLE_US);
            wait(1);
            pc.printf("send pulse 1600 to servo\n");
            pwm_Servo.pulsewidth_us(1600);
            wait(1);
            pc.printf("send pulse 1300 to servo\n");
            pwm_Servo.pulsewidth_us(1300);
            wait(1);
            pc.printf("send pulse 1500 to servo\n");
            pwm_Servo.pulsewidth_us(1500);
            wait(1);
            directionCheck = true;
            break;
        case SERVO_COMMAND:
            break;
        default:
            break;
    }
    return;
}