TurtleBot / Mbed 2 deprecated testLibrary

malin

Dependencies:   Servo mbed mbed-rtos

main.cpp@1:da79761252bc, 2018-01-30 (annotated)

Committer:
Khanchana
Date:
Tue Jan 30 11:54:34 2018 +0000
Revision:
1:da79761252bc
Parent:
0:596de9a5c573
Child:
2:68dbcd5277e4
malin v.1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Khanchana 0:596de9a5c573 1 #include "mbed.h"
Khanchana 0:596de9a5c573 2 #include "Servo.h"
Khanchana 1:da79761252bc 3 #include "rtos.h"
Khanchana 0:596de9a5c573 4
Khanchana 1:da79761252bc 5 Servo Servo1(D7);
Khanchana 1:da79761252bc 6 Servo Servo2(D6);
Khanchana 1:da79761252bc 7 Servo Servo3(D9);
Khanchana 1:da79761252bc 8 Servo Servo4(D8);
Khanchana 1:da79761252bc 9 Thread thread;
Khanchana 1:da79761252bc 10
Khanchana 1:da79761252bc 11 void myservoright_thread() {
Khanchana 1:da79761252bc 12 while(1){
Khanchana 1:da79761252bc 13 Servo3.Enable(1000,20000);
Khanchana 1:da79761252bc 14 Servo4.Disable();
Khanchana 1:da79761252bc 15 for (int pos = 1400; pos <= 1700; pos += 5) {
Khanchana 1:da79761252bc 16 Servo3.SetPosition(pos);
Khanchana 1:da79761252bc 17 wait(0.01);
Khanchana 1:da79761252bc 18 }
Khanchana 1:da79761252bc 19 Servo4.Enable(1000,20000);
Khanchana 1:da79761252bc 20 Servo3.Disable();
Khanchana 1:da79761252bc 21 for (int pos = 1000; pos <= 1700; pos += 5) {
Khanchana 1:da79761252bc 22 Servo4.SetPosition(pos);
Khanchana 1:da79761252bc 23 wait(0.01);
Khanchana 1:da79761252bc 24 }
Khanchana 1:da79761252bc 25 Servo3.Enable(1000,20000);
Khanchana 1:da79761252bc 26 Servo4.Disable();
Khanchana 1:da79761252bc 27 for (int pos = 1700; pos >= 1400; pos -= 5) {
Khanchana 1:da79761252bc 28 Servo3.SetPosition(pos);
Khanchana 1:da79761252bc 29 wait(0.01);
Khanchana 1:da79761252bc 30 }
Khanchana 1:da79761252bc 31 Servo4.Enable(1000,20000);
Khanchana 1:da79761252bc 32 Servo3.Disable();
Khanchana 1:da79761252bc 33 for (int pos = 1700; pos >= 1000; pos -= 5) {
Khanchana 1:da79761252bc 34 Servo4.SetPosition(pos);
Khanchana 1:da79761252bc 35 wait(0.01);
Khanchana 1:da79761252bc 36 }
Khanchana 1:da79761252bc 37 }
Khanchana 1:da79761252bc 38 }
Khanchana 0:596de9a5c573 39
Khanchana 0:596de9a5c573 40 int main() {
Khanchana 1:da79761252bc 41 while(1){
Khanchana 0:596de9a5c573 42 Servo1.Enable(1000,20000);
Khanchana 0:596de9a5c573 43 Servo2.Disable();
Khanchana 1:da79761252bc 44 thread.start(myservoright_thread);
Khanchana 1:da79761252bc 45 for (int pos = 1400; pos <= 1700; pos += 5) {
Khanchana 0:596de9a5c573 46 Servo1.SetPosition(pos);
Khanchana 1:da79761252bc 47 wait(0.01);
Khanchana 0:596de9a5c573 48 }
Khanchana 0:596de9a5c573 49 Servo2.Enable(1000,20000);
Khanchana 0:596de9a5c573 50 Servo1.Disable();
Khanchana 1:da79761252bc 51 for (int pos = 1000; pos <= 1700; pos += 5) {
Khanchana 0:596de9a5c573 52 Servo2.SetPosition(pos);
Khanchana 1:da79761252bc 53 wait(0.01);
Khanchana 0:596de9a5c573 54 }
Khanchana 1:da79761252bc 55 Servo1.Enable(1000,20000);
Khanchana 1:da79761252bc 56 Servo2.Disable();
Khanchana 1:da79761252bc 57 for (int pos = 1700; pos >= 1400; pos -= 5) {
Khanchana 1:da79761252bc 58 Servo1.SetPosition(pos);
Khanchana 1:da79761252bc 59 wait(0.01);
Khanchana 1:da79761252bc 60 }
Khanchana 1:da79761252bc 61 Servo2.Enable(1000,20000);
Khanchana 1:da79761252bc 62 Servo1.Disable();
Khanchana 1:da79761252bc 63 for (int pos = 1700; pos >= 1000; pos -= 5) {
Khanchana 0:596de9a5c573 64 Servo2.SetPosition(pos);
Khanchana 1:da79761252bc 65 wait(0.01);
Khanchana 0:596de9a5c573 66 }
Khanchana 1:da79761252bc 67 }
Khanchana 0:596de9a5c573 68 }