group14 - k9 / Mbed 2 deprecated servo_test

servoding

Dependencies:   mbed Servo

main.cpp@2:9bb7e571b55f, 2015-10-27 (annotated)

Committer:
S1lverEagle
Date:
Tue Oct 27 09:51:06 2015 +0000
Revision:
2:9bb7e571b55f
Parent:
1:c6e4257722b9 
aangepast aan servo library

Who changed what in which revision?

UserRevisionLine numberNew contents of line
S1lverEagle 0:952a13a3eb5c 1 #include "mbed.h"
S1lverEagle 2:9bb7e571b55f 2 #include "math.h"
S1lverEagle 2:9bb7e571b55f 3 #include "Servo.h"
S1lverEagle 0:952a13a3eb5c 4
S1lverEagle 0:952a13a3eb5c 5 //servo ranges from .6ms to 2.7ms duty cycle in 20ms pwm period
S1lverEagle 0:952a13a3eb5c 6
S1lverEagle 2:9bb7e571b55f 7 Servo servoPwm(D5);
S1lverEagle 0:952a13a3eb5c 8
tomvaniddekinge 1:c6e4257722b9 9 double theta1;
tomvaniddekinge 1:c6e4257722b9 10 double theta2;
tomvaniddekinge 1:c6e4257722b9 11 double theta3;
tomvaniddekinge 1:c6e4257722b9 12
tomvaniddekinge 1:c6e4257722b9 13 Ticker servo;
tomvaniddekinge 1:c6e4257722b9 14
tomvaniddekinge 1:c6e4257722b9 15 void servo_control()
S1lverEagle 0:952a13a3eb5c 16 {
tomvaniddekinge 1:c6e4257722b9 17 theta3 = 180 - theta1 - theta2;
S1lverEagle 2:9bb7e571b55f 18 servoPwm.SetPosition = (2100/180)*theta3 + 600;
tomvaniddekinge 1:c6e4257722b9 19 }
tomvaniddekinge 1:c6e4257722b9 20
tomvaniddekinge 1:c6e4257722b9 21 int main()
tomvaniddekinge 1:c6e4257722b9 22 {
S1lverEagle 2:9bb7e571b55f 23 servoPwm.Enable(1650,20000);
tomvaniddekinge 1:c6e4257722b9 24 servo.attach(&servo_control,0,02);
tomvaniddekinge 1:c6e4257722b9 25 while(true){}
S1lverEagle 0:952a13a3eb5c 26 }
tomvaniddekinge 1:c6e4257722b9 27
tomvaniddekinge 1:c6e4257722b9 28
tomvaniddekinge 1:c6e4257722b9 29