catchrobo2022 / Mbed 2 deprecated CatchroboGripper

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Dependencies:   mbed

Files at this revision

API Documentation at this revision

Revision 2:042ea0741254, committed 2022-07-26

Comitter:
qwertyaz
Date:
Tue Jul 26 02:52:56 2022 +0000
Parent:
1:a636d553c70a
Commit message:
test

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Thu Jul 21 13:46:47 2022 +0000
+++ b/main.cpp	Tue Jul 26 02:52:56 2022 +0000
@@ -2,10 +2,10 @@
 #include "CAN_com.h"
 #include "structs.h"
 
-#define PULSE_MAX 2450  // us
-#define PULSE_MIN 550   //us  
+#define PULSE_MAX 2400  // us
+#define PULSE_MIN 600   //us  
 #define PERIOD 20       // us
-#define POS_MAX 3.14159265359f  // rad
+#define POS_MAX 3.14159265359f  // radx
 #define POS_MIN 0.0f            // rad
 #define M_PI 3.14159265359f  // rad
 
@@ -18,8 +18,8 @@
 PwmOut led_blue(PB_4);
 PwmOut led_red(PB_5);
 
-PwmOut servo1(PA_1);
-PwmOut servo2(PA_3);
+PwmOut servo1(PA_3);
+PwmOut servo2(PA_1);
 
 ControllerStruct controller;
 
@@ -36,7 +36,6 @@
 
     servo1.period_ms(PERIOD);
     servo2.period_ms(PERIOD);
-
     while(1) {
         if (received == true){
             double gripper_pos = controller.p_des;