robot arm demo team / Mbed 2 deprecated RobotArmDemo Featured

demo project

Dependencies:   AX-12A Dynamixel mbed iothub_client EthernetInterface NTPClient ConfigFile SDFileSystem iothub_amqp_transport mbed-rtos proton-c-mbed wolfSSL

Utils/ControllerIo.cpp@33:8b9dcbf6d8ec, 2016-02-04 (annotated)

Committer:
henryrawas
Date:
Thu Feb 04 20:10:33 2016 +0000
Revision:
33:8b9dcbf6d8ec
Parent:
19:2f0ec9ac1238 
update libs

Who changed what in which revision?

UserRevisionLine numberNew contents of line
henryrawas 19:2f0ec9ac1238 1 // Copyright (c) Microsoft. All rights reserved.
henryrawas 19:2f0ec9ac1238 2 // Licensed under the MIT license. See LICENSE file in the project root for full license information.
henryrawas 19:2f0ec9ac1238 3
henryrawas 10:9b21566a5ddb 4 #include "mbed.h"
henryrawas 10:9b21566a5ddb 5 #include "rtos.h"
henryrawas 10:9b21566a5ddb 6
henryrawas 10:9b21566a5ddb 7 DigitalOut greenLed(LED_GREEN);
henryrawas 10:9b21566a5ddb 8 DigitalOut redLed(LED_RED);
henryrawas 10:9b21566a5ddb 9 DigitalOut blueLed(LED_BLUE);
henryrawas 10:9b21566a5ddb 10
henryrawas 13:ffeff9b5e513 11 DigitalOut buzzer(D2, 1);
henryrawas 13:ffeff9b5e513 12
henryrawas 13:ffeff9b5e513 13
henryrawas 13:ffeff9b5e513 14 int BuzzStopMs = 0;
henryrawas 10:9b21566a5ddb 15
henryrawas 10:9b21566a5ddb 16 void ShowLedColor(int col)
henryrawas 10:9b21566a5ddb 17 {
henryrawas 10:9b21566a5ddb 18 greenLed = 1;
henryrawas 10:9b21566a5ddb 19 redLed = 1;
henryrawas 10:9b21566a5ddb 20 blueLed = 1;
henryrawas 10:9b21566a5ddb 21
henryrawas 10:9b21566a5ddb 22 if (col == 1)
henryrawas 10:9b21566a5ddb 23 greenLed = 0;
henryrawas 10:9b21566a5ddb 24 else if (col == 2)
henryrawas 10:9b21566a5ddb 25 redLed = 0;
henryrawas 10:9b21566a5ddb 26 else if (col == 3)
henryrawas 10:9b21566a5ddb 27 blueLed = 0;
henryrawas 10:9b21566a5ddb 28 }
henryrawas 10:9b21566a5ddb 29
henryrawas 10:9b21566a5ddb 30 void ShowLedGreen()
henryrawas 10:9b21566a5ddb 31 {
henryrawas 10:9b21566a5ddb 32 ShowLedColor(1);
henryrawas 10:9b21566a5ddb 33 }
henryrawas 10:9b21566a5ddb 34
henryrawas 10:9b21566a5ddb 35 void ShowLedRed()
henryrawas 10:9b21566a5ddb 36 {
henryrawas 10:9b21566a5ddb 37 ShowLedColor(2);
henryrawas 10:9b21566a5ddb 38 }
henryrawas 13:ffeff9b5e513 39
henryrawas 10:9b21566a5ddb 40 void ShowLedBlue()
henryrawas 10:9b21566a5ddb 41 {
henryrawas 10:9b21566a5ddb 42 ShowLedColor(3);
henryrawas 10:9b21566a5ddb 43 }
henryrawas 13:ffeff9b5e513 44
henryrawas 13:ffeff9b5e513 45 void BuzzerStart()
henryrawas 13:ffeff9b5e513 46 {
henryrawas 13:ffeff9b5e513 47 buzzer = 0;
henryrawas 13:ffeff9b5e513 48 }
henryrawas 13:ffeff9b5e513 49
henryrawas 13:ffeff9b5e513 50 void BuzzerStop()
henryrawas 13:ffeff9b5e513 51 {
henryrawas 13:ffeff9b5e513 52 buzzer = 1;
henryrawas 13:ffeff9b5e513 53 }
henryrawas 13:ffeff9b5e513 54
henryrawas 13:ffeff9b5e513 55 void BuzzerStartMs(int nowMs, int durationMs)
henryrawas 13:ffeff9b5e513 56 {
henryrawas 13:ffeff9b5e513 57 BuzzStopMs = nowMs + durationMs;
henryrawas 13:ffeff9b5e513 58 BuzzerStart();
henryrawas 13:ffeff9b5e513 59 }
henryrawas 13:ffeff9b5e513 60
henryrawas 13:ffeff9b5e513 61 void BuzzerPoll(int nowMs)
henryrawas 13:ffeff9b5e513 62 {
henryrawas 13:ffeff9b5e513 63 if (BuzzStopMs != 0)
henryrawas 13:ffeff9b5e513 64 {
henryrawas 13:ffeff9b5e513 65 if (nowMs >= BuzzStopMs)
henryrawas 13:ffeff9b5e513 66 {
henryrawas 13:ffeff9b5e513 67 BuzzStopMs = 0;
henryrawas 13:ffeff9b5e513 68 BuzzerStop();
henryrawas 13:ffeff9b5e513 69 }
henryrawas 13:ffeff9b5e513 70 }
henryrawas 13:ffeff9b5e513 71 }