zhaw_st16b_pes2_10 / Mbed 2 deprecated Test-Arm

c

Dependencies:   Servo mbed

main.cpp@0:a2e39e1c3e1c, 2017-04-19 (annotated)

Committer:
EpicG10
Date:
Wed Apr 19 14:17:33 2017 +0000
Revision:
0:a2e39e1c3e1c
v

Who changed what in which revision?

UserRevisionLine numberNew contents of line
EpicG10 0:a2e39e1c3e1c 1 #include "Test-Arm.h"
EpicG10 0:a2e39e1c3e1c 2 #include "mbed.h"
EpicG10 0:a2e39e1c3e1c 3 #include <cstdlib>
EpicG10 0:a2e39e1c3e1c 4 #include "Servo.h"
EpicG10 0:a2e39e1c3e1c 5
EpicG10 0:a2e39e1c3e1c 6 Servo ServoArm(PA_6);
EpicG10 0:a2e39e1c3e1c 7 Ticker t1;
EpicG10 0:a2e39e1c3e1c 8
EpicG10 0:a2e39e1c3e1c 9 int targetPosition = 0;
EpicG10 0:a2e39e1c3e1c 10
EpicG10 0:a2e39e1c3e1c 11 void driveServo()
EpicG10 0:a2e39e1c3e1c 12 {
EpicG10 0:a2e39e1c3e1c 13 static float pos = 45;
EpicG10 0:a2e39e1c3e1c 14
EpicG10 0:a2e39e1c3e1c 15 if( pos > targetPosition)
EpicG10 0:a2e39e1c3e1c 16 pos-= 0.1f;
EpicG10 0:a2e39e1c3e1c 17 else
EpicG10 0:a2e39e1c3e1c 18 pos+= 0.1f;
EpicG10 0:a2e39e1c3e1c 19
EpicG10 0:a2e39e1c3e1c 20
EpicG10 0:a2e39e1c3e1c 21 ServoArm.position(pos);
EpicG10 0:a2e39e1c3e1c 22 }
EpicG10 0:a2e39e1c3e1c 23
EpicG10 0:a2e39e1c3e1c 24 int main()
EpicG10 0:a2e39e1c3e1c 25 {
EpicG10 0:a2e39e1c3e1c 26
EpicG10 0:a2e39e1c3e1c 27
EpicG10 0:a2e39e1c3e1c 28 ServoArm.calibrate(0.0015f, 180.0f);
EpicG10 0:a2e39e1c3e1c 29
EpicG10 0:a2e39e1c3e1c 30 t1.attach( driveServo, 0.1f );
EpicG10 0:a2e39e1c3e1c 31
EpicG10 0:a2e39e1c3e1c 32
EpicG10 0:a2e39e1c3e1c 33 //Arm Armi;
EpicG10 0:a2e39e1c3e1c 34
EpicG10 0:a2e39e1c3e1c 35 wait( 5.0f);
EpicG10 0:a2e39e1c3e1c 36
EpicG10 0:a2e39e1c3e1c 37 while(1) {
EpicG10 0:a2e39e1c3e1c 38
EpicG10 0:a2e39e1c3e1c 39 targetPosition = 45;
EpicG10 0:a2e39e1c3e1c 40
EpicG10 0:a2e39e1c3e1c 41 wait( 2.0);
EpicG10 0:a2e39e1c3e1c 42 targetPosition = 15;
EpicG10 0:a2e39e1c3e1c 43 wait( 2.0);
EpicG10 0:a2e39e1c3e1c 44
EpicG10 0:a2e39e1c3e1c 45 /* Armi.down();
EpicG10 0:a2e39e1c3e1c 46 wait(0.5);
EpicG10 0:a2e39e1c3e1c 47 Armi.collect();
EpicG10 0:a2e39e1c3e1c 48 wait(0.5);
EpicG10 0:a2e39e1c3e1c 49 Armi.back();
EpicG10 0:a2e39e1c3e1c 50 wait(0.5);
EpicG10 0:a2e39e1c3e1c 51 Armi.backtocollect();
EpicG10 0:a2e39e1c3e1c 52 wait(0.5);*/
EpicG10 0:a2e39e1c3e1c 53 }
EpicG10 0:a2e39e1c3e1c 54
EpicG10 0:a2e39e1c3e1c 55 }