UVic Assistive Technology Lab / Mbed 2 deprecated DSLR_Camera_Gimbal

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed ros_lib_kinetic

Diff: initializations.cpp

Revision:
10:836e701d00a6
Parent:
7:950b3c3b5a2b
Child:
13:8630f38f8066
--- a/initializations.cpp	Mon Mar 26 21:32:30 2018 +0000
+++ b/initializations.cpp	Thu Apr 26 18:33:11 2018 +0000
@@ -12,12 +12,21 @@
     // Set the Gimbal at the zero position.
     gimbal.servo(YAWID, YAWZERO, 50); 
     control.yaw = YAWZERO;
+    control.yawSpeed = 50;
+    rosInput.yaw = YAWZERO;
+    rosInput.yawSpeed = 50;
     wait(0.1);
     gimbal.servo(PITCHID, PITCHZERO, 50);
     control.pitch = PITCHZERO;
+    control.pitchSpeed = 50;
+    rosInput.pitch = PITCHZERO;
+    rosInput.pitchSpeed = 50;
     wait(0.1);
     gimbal.servo(ROLLID, ROLLZERO, 50);
     control.roll = ROLLZERO;
+    control.rollSpeed = 50;
+    rosInput.roll = ROLLZERO;
+    rosInput.rollSpeed = 50;
 }
 
 void setupLift(){
@@ -29,11 +38,19 @@
     liftDirection.write(LIFTDOWN);
     liftSpeed.write(0.3);   
     
+    
     // Wait until the motor stalls, know the motor is at bottom.
     while(stallcount < 3){wait(.01);}
     liftSpeed.write(0);
     currentPosition = 0;
+    wait(0.1);
+    liftDirection.write(LIFTUP);
+    liftSpeed.write(0.3); 
+    wait(0.1);
+    liftSpeed.write(0);
     stopHallInt();
+    rosInput.height = LIFTHEIGHTMIN;
+    rosInput.heightSpeed = 0;
 }
 
 void setupROSNode(ros::NodeHandle& nh, ros::Subscriber<std_msgs::Int32MultiArray>& sub){