Diff: main.cpp

Revision:

0:928ee2609d39

Child:

1:b74e9a2a3fa5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Feb 16 22:41:28 2017 +0000
@@ -0,0 +1,46 @@
+#include "mbed.h"
+#include "SRF02.h"
+#include "Servo.h"
+
+Serial pc(USBTX, USBRX); //tx, rx
+SRF02 sensor(p28,p27, 0xE0);
+Servo cr_srv(p21);
+DigitalOut myled(LED1);
+
+void init_servo(){
+    //calibrate the servos for +/-45deg
+    cr_srv.calibrate(0.0005,45);
+    }
+
+int main() {
+   
+    float pos_val=0.5; //variable to hold posistion values
+    float step_size=0.01; //position increment/decrement value
+    float cr_srv_cmd=0.5; //continuous rotation servo command value (range: 0.0 - 1.0)
+    
+    pc.baud(921600);
+    
+   while(1){
+      
+     int distance = sensor.getDistanceCm();
+     pc.printf("Distance = %d cm\n",distance);
+     
+     if (distance <= 50)
+     myled = 0;
+     cr_srv_cmd = 0.5; //use a smaller scale for the cr servo due to its limited sensitivity
+     cr_srv.write(cr_srv_cmd); //write to the servo
+     pos_val = pos_val + step_size;
+        if (pos_val > 1.0) pos_val = 0.0;
+        
+        wait(0.5);
+     else if (distance > 50)
+     myled = 1;
+     cr_srv_cmd = 0.9;
+     cr_srv.write(cr_srv_cmd);
+     pos_val = pos_val + step_size;
+        if (pos_val > 1.0) pos_val = 0.0;
+        
+     wait(0.5);
+     
+    }
+}
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