Diff: main.cpp

Revision:

2:065d789dbcbd

Parent:

0:b8bade04f24f

Child:

3:cb420000788e

diff -r b8bade04f24f -r 065d789dbcbd main.cpp
--- a/main.cpp	Thu Sep 03 21:45:56 2020 +0000
+++ b/main.cpp	Fri Oct 23 14:26:16 2020 +0000
@@ -4,6 +4,7 @@
 #include "soft_uart.h"
 #include <string.h>
 #include "ArduCAM2640.h"
+#include "Servo/Servo.h"
 #define IMAGE_JPG_SIZE 16*1024
 #define MIN(x,y) x < y ? x : y
 float sum = 0;
@@ -11,6 +12,9 @@
 char buffer[14];
 char buf[100];
 unsigned int framepos=0;
+
+Servo servo_pan(PB_0);
+Servo servo_tilt(PB_1);
 ArduCAM2640 g_arducam;
 I2C camI2C(PB_7, PB_6);
 //I2C camI2C(PB_7,PB_6); //SDA/SCL
@@ -28,7 +32,7 @@
 SDFileSystem sd(PB_5, PB_4, PB_3, PA_11, "sd"); //MOSI,MISO,SCK,CS the pinout on the mbed Cool Components workshop board
 
 // activation 3.3V power supply on sensors board
-DigitalOut activ_sensors(PA_7); //
+DigitalOut activ_sensors(PA_12); //
 // Analog pin sensors : battery and temperature
 AnalogIn   batin(PA_0);//battery pin pA0
 AnalogIn   tempin(PA_1);//temperature pin pa1
@@ -318,6 +322,35 @@
     pc.printf("\r\nbye bye...");
     exit(0);
 }
+
+void test_pan_tilt(void)
+{unsigned char stop=0;
+    pc.printf("\r\n/*----------------------------------------------*/\r\n");
+    pc.printf("\t Pan Tilt test\r\n");
+    pc.printf("send \"s\" to stop\r\n");
+    pc.printf("/*----------------------------------------------*/\r\n");
+    wait(2);    
+    do
+    {
+        for(float p=0.2; p<0.7; p += 0.1) 
+        {
+            servo_pan = p;
+            servo_tilt=p;
+            wait(0.4);
+        }
+        for(float p=0.7; p>0.2; p -= 0.1) 
+        {
+            servo_pan = p;
+            servo_tilt=p;
+            wait(0.4);
+        }
+        if(pc.readable())
+            stop=pc.getc();
+     }while(stop!='s');
+     servo_pan = 0.5;
+    servo_tilt=0.5;
+}
+
 int menu(void)
 {int choice=0;
 // menu tests
@@ -330,13 +363,14 @@
     pc.printf("\t4. Test CAMERA\r\n");
     pc.printf("\t5. Test temperature sensor & battery level \r\n");
     pc.printf("\t6. Test XBEE communication\r\n");
-    pc.printf("\t7. Quit\r\n");
+    pc.printf("\t7. Test pan/tilt plates \r\n");
+    pc.printf("\t8. Quit\r\n");
     pc.printf("/*-------------------------------------------*/\r\n");
     do
     {
-        pc.printf("Please enter your choice (1 to 7):"); 
+        pc.printf("Please enter your choice (1 to 8):"); 
         choice=pc.getc();
-    }while(choice<0x31||choice>0x37); 
+    }while(choice<0x31||choice>0x38); 
     return choice;
 }
 
@@ -388,10 +422,13 @@
                 break;
             case '6' : test_xbee_comm();
                 status=0;
-                break; 
+                break;
+            case '7' : test_pan_tilt();
+                status=0;
+            break; 
             //case 7: all_test();
        //         break;
-            case '7' : quit();
+            case '8' : quit();
                 break;
         }
     }