TurtleBot
/
Servo_without_thread
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Revision 0:3af6fae90816, committed 2018-04-01
- Comitter:
- Khanchana
- Date:
- Sun Apr 01 14:20:53 2018 +0000
- Child:
- 1:852156b5cca1
- Commit message:
- servo code v.1
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Sun Apr 01 14:20:53 2018 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/jdenkers/code/Servo/#352133517ccc
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun Apr 01 14:20:53 2018 +0000
@@ -0,0 +1,65 @@
+#include "mbed.h"
+#include "Servo.h"
+#include "rtos.h"
+
+Serial pc(USBTX, USBRX);
+
+Servo Servo1(D6);
+Servo Servo2(D8);
+Servo Servo3(D9);
+Servo Servo4(D10);
+
+void myservoLeft();
+
+int pos_down = 1400;
+int pos_up = 1000;
+int pos_down_end = 1700;
+int pos_up_end = 1700;
+
+int main() {
+ pc.baud(9600);
+ wait(5);
+ Servo1.Enable(1000,2000);
+ Servo2.Enable(1000,2000);
+ Servo3.Enable(1000,2000);
+ Servo4.Enable(1000,2000);
+ while(1){
+ myservoLeft();
+ if(pos_down <= pos_down_end and pos_up == 1000){
+ Servo1.SetPosition(pos_down);
+ pos_down = pos_down+2;
+ }
+ else if(pos_down == pos_down_end+2 and pos_up <= 1700){
+ Servo2.SetPosition(pos_up);
+ pos_up = pos_up+2;
+ }
+ else if(pos_down >= 1400 and pos_up == pos_up_end+2){
+ Servo1.SetPosition(pos_down);
+ pos_down = pos_down-2;
+ }
+ else if(pos_down == 1398 and pos_up > 1000){
+ Servo2.SetPosition(pos_up);
+ pos_up = pos_up-2;
+ }
+ }
+}
+
+void myservoLeft()
+{
+ if(pos_down <= pos_down_end and pos_up == 1000){
+ Servo3.SetPosition(pos_down);
+ pos_down = pos_down+2;
+ }
+ else if(pos_down == pos_down_end+2 and pos_up <= 1700){
+ Servo4.SetPosition(pos_up);
+ pos_up = pos_up+2;
+ }
+ else if(pos_down >= 1400 and pos_up == pos_up_end+2){
+ Servo3.SetPosition(pos_down);
+ pos_down = pos_down-2;
+ }
+ else if(pos_down == 1398 and pos_up > 1000){
+ Servo4.SetPosition(pos_up);
+ pos_up = pos_up-2;
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sun Apr 01 14:20:53 2018 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/994bdf8177cb \ No newline at end of file