UVic Assistive Technology Lab / Mbed 2 deprecated DSLR_Camera_Gimbal

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Dependencies:   mbed ros_lib_kinetic

gimbal.cpp@7:950b3c3b5a2b, 2018-03-14 (annotated)

Committer:
MikeGray92
Date:
Wed Mar 14 19:33:08 2018 +0000
Revision:
7:950b3c3b5a2b
Parent:
6:2ffa254e8f6e
Child:
10:836e701d00a6
Tested with ROS; Added Initialized ROS Inputs to avoid errors at start up; Limit the roll movement, to allow greater pitch movement; In Bed Chatting mode changed to rosInput.mode = 4 and Standing Chatting mode changed to rosInput.mode = 2.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
group-UVic-Assistive-Technolog 0:3a767f41cf04 1
group-UVic-Assistive-Technolog 0:3a767f41cf04 2 #include <stdint.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 3 #include "mbed.h"
group-UVic-Assistive-Technolog 0:3a767f41cf04 4 #include <ros.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 5 #include <std_msgs/Empty.h>
MikeGray92 7:950b3c3b5a2b 6 #include <std_msgs/Int32MultiArray.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 7 #include <BNO055.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 8 #include <initializations.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 9 #include <definitions.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 10 #include <prototypes.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 11 #include <Mx28.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 12
MikeGray92 6:2ffa254e8f6e 13 static int i = 0; //Variable to only update one servo each loop.
group-UVic-Assistive-Technolog 0:3a767f41cf04 14
group-UVic-Assistive-Technolog 0:3a767f41cf04 15 void runGimbal(void){
group-UVic-Assistive-Technolog 0:3a767f41cf04 16 switch(i){
group-UVic-Assistive-Technolog 0:3a767f41cf04 17 case(0):
group-UVic-Assistive-Technolog 0:3a767f41cf04 18 gimbal.servo(YAWID, control.yaw, 30);
group-UVic-Assistive-Technolog 0:3a767f41cf04 19 i++;
group-UVic-Assistive-Technolog 0:3a767f41cf04 20 break;
group-UVic-Assistive-Technolog 0:3a767f41cf04 21 case(1):
group-UVic-Assistive-Technolog 0:3a767f41cf04 22 gimbal.servo(PITCHID, control.pitch, 30);
group-UVic-Assistive-Technolog 0:3a767f41cf04 23 i++;
group-UVic-Assistive-Technolog 0:3a767f41cf04 24 break;
group-UVic-Assistive-Technolog 0:3a767f41cf04 25 case(2):
group-UVic-Assistive-Technolog 0:3a767f41cf04 26 gimbal.servo(ROLLID, control.roll, 30);
group-UVic-Assistive-Technolog 0:3a767f41cf04 27 i = 0;
group-UVic-Assistive-Technolog 0:3a767f41cf04 28 break;
MikeGray92 4:89ebfa37663b 29 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 30 }