robocon_2016 / Mbed 2 deprecated 2016_slave_servo

servo_/30

Dependencies:   i2cslave mbed

main.cpp@0:f7be77a7663f, 2016-09-30 (annotated)

Committer:
sgrsn
Date:
Fri Sep 30 12:33:22 2016 +0000
Revision:
0:f7be77a7663f
servo_9/30

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sgrsn 0:f7be77a7663f 1 #include "mbed.h"
sgrsn 0:f7be77a7663f 2 #include "i2cslave.h"
sgrsn 0:f7be77a7663f 3 #include "define.h"
sgrsn 0:f7be77a7663f 4
sgrsn 0:f7be77a7663f 5 char Registar[128]= {};
sgrsn 0:f7be77a7663f 6 void check();
sgrsn 0:f7be77a7663f 7
sgrsn 0:f7be77a7663f 8 int main()
sgrsn 0:f7be77a7663f 9 {
sgrsn 0:f7be77a7663f 10 PwmOut Servos[4] = { PwmOut(dp24), PwmOut(dp1), PwmOut(dp2), PwmOut(dp18) };
sgrsn 0:f7be77a7663f 11 char servodata[4] = {};
sgrsn 0:f7be77a7663f 12 for(int i = 0; i < 4; i++)
sgrsn 0:f7be77a7663f 13 {
sgrsn 0:f7be77a7663f 14 Servos[i] = 0;
sgrsn 0:f7be77a7663f 15 }
sgrsn 0:f7be77a7663f 16 NVIC_SetPriority(TIMER_16_0_IRQn, 20);
sgrsn 0:f7be77a7663f 17 NVIC_SetPriority(TIMER_16_1_IRQn, 20);
sgrsn 0:f7be77a7663f 18 NVIC_SetPriority(TIMER_32_0_IRQn, 20);
sgrsn 0:f7be77a7663f 19 NVIC_SetPriority(TIMER_32_1_IRQn, 20);
sgrsn 0:f7be77a7663f 20 NVIC_SetPriority(I2C_IRQn, 10);
sgrsn 0:f7be77a7663f 21 i2cslave i2c(dp5, dp27, Registar);
sgrsn 0:f7be77a7663f 22 /*change address every micon***********/
sgrsn 0:f7be77a7663f 23 i2c.address(SERVO1_addr);
sgrsn 0:f7be77a7663f 24 /**************************************/
sgrsn 0:f7be77a7663f 25 i2c.frequency(1000000);
sgrsn 0:f7be77a7663f 26 Ticker tic;
sgrsn 0:f7be77a7663f 27 tic.attach(check, 0.1);
sgrsn 0:f7be77a7663f 28 while(1)
sgrsn 0:f7be77a7663f 29 {
sgrsn 0:f7be77a7663f 30 for(int i = 0; i < 4; i++)
sgrsn 0:f7be77a7663f 31 {
sgrsn 0:f7be77a7663f 32 servodata[i] = (Registar[motor1_state] >> i) & 1;
sgrsn 0:f7be77a7663f 33 if(servodata[i])
sgrsn 0:f7be77a7663f 34 {
sgrsn 0:f7be77a7663f 35 Servos[i].pulsewidth(0.0010);
sgrsn 0:f7be77a7663f 36 }
sgrsn 0:f7be77a7663f 37 else
sgrsn 0:f7be77a7663f 38 {
sgrsn 0:f7be77a7663f 39 Servos[i].pulsewidth(0.0006);
sgrsn 0:f7be77a7663f 40 }
sgrsn 0:f7be77a7663f 41 wait_ms(60);
sgrsn 0:f7be77a7663f 42 }
sgrsn 0:f7be77a7663f 43 }
sgrsn 0:f7be77a7663f 44 }
sgrsn 0:f7be77a7663f 45
sgrsn 0:f7be77a7663f 46 void check()
sgrsn 0:f7be77a7663f 47 {
sgrsn 0:f7be77a7663f 48 Registar[check_reg]++;
sgrsn 0:f7be77a7663f 49 if(Registar[check_reg] > 2)
sgrsn 0:f7be77a7663f 50 {
sgrsn 0:f7be77a7663f 51 NVIC_SystemReset();
sgrsn 0:f7be77a7663f 52 }
sgrsn 0:f7be77a7663f 53 }