first commit
Dependencies: PM2_Libary
Diff: main.cpp
- Revision:
- 12:3dfd8f2939ac
- Parent:
- 11:af0f165f8761
- Child:
- 13:41bf923cd055
diff -r af0f165f8761 -r 3dfd8f2939ac main.cpp --- a/main.cpp Wed Apr 14 12:15:40 2021 +0000 +++ b/main.cpp Mon Apr 19 08:47:39 2021 +0000 @@ -53,7 +53,7 @@ Servo servo_S1(PB_2); Servo servo_S2(PC_8); // Servo servo_S3(PC_6); // PC_6 is used for ultra sonic sensor below -int servoPeriod_mus = 20000; +int Ts_pwm_mus = 20000; int servoOutput_mus_S1 = 0; int servoOutput_mus_S2 = 0; int servo_counter = 0; @@ -80,8 +80,8 @@ pwmOut_M3.write(0.5); /* enable servos, you can also disable them */ - servo_S1.Enable(servoOutput_mus_S1, servoPeriod_mus); - servo_S2.Enable(servoOutput_mus_S2, servoPeriod_mus); + servo_S1.Enable(servoOutput_mus_S1, Ts_pwm_mus); + servo_S2.Enable(servoOutput_mus_S2, Ts_pwm_mus); while (true) { @@ -103,10 +103,10 @@ /* command servo position via output time, this needs to be calibrated */ servo_S1.SetPosition(servoOutput_mus_S1); servo_S2.SetPosition(servoOutput_mus_S2); - if (servoOutput_mus_S1 <= servoPeriod_mus & servo_counter%loops_per_second == 0 & servo_counter != 0) { + if (servoOutput_mus_S1 <= Ts_pwm_mus & servo_counter%loops_per_second == 0 & servo_counter != 0) { servoOutput_mus_S1 += 100; } - if (servoOutput_mus_S2 <= servoPeriod_mus & servo_counter%loops_per_second == 0 & servo_counter != 0) { + if (servoOutput_mus_S2 <= Ts_pwm_mus & servo_counter%loops_per_second == 0 & servo_counter != 0) { servoOutput_mus_S2 += 100; } servo_counter++;