A simple API/Software interface to the LPC17xx PWM peripheral to provide control to up to six RC type servo controllers.
inc/example1.h@1:fbb8acf19e77, 2011-05-02 (annotated)
- Committer:
- AjK
- Date:
- Mon May 02 18:42:16 2011 +0000
- Revision:
- 1:fbb8acf19e77
- Parent:
- 0:c680385286e3
- Child:
- 3:1232505e7206
1.1 See ChangeLog.h
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
AjK | 0:c680385286e3 | 1 | |
AjK | 0:c680385286e3 | 2 | |
AjK | 0:c680385286e3 | 3 | #include "mbed.h" |
AjK | 0:c680385286e3 | 4 | #include "SimpleRCservos.h" |
AjK | 0:c680385286e3 | 5 | |
AjK | 0:c680385286e3 | 6 | #define N_90 -90.0 |
AjK | 0:c680385286e3 | 7 | #define P_90 +90.0 |
AjK | 0:c680385286e3 | 8 | |
AjK | 0:c680385286e3 | 9 | SimpleRCservos servos; |
AjK | 0:c680385286e3 | 10 | |
AjK | 0:c680385286e3 | 11 | int main() { |
AjK | 0:c680385286e3 | 12 | double position = 0; |
AjK | 0:c680385286e3 | 13 | |
AjK | 0:c680385286e3 | 14 | // The default scaling range is -1.0 to +1.0 |
AjK | 0:c680385286e3 | 15 | // Alter the scaling range to -90.0 to +90.0 |
AjK | 0:c680385286e3 | 16 | servos.setLimits(SimpleRCservos::Servo6, N_90, P_90); // Mbed p21 |
AjK | 0:c680385286e3 | 17 | servos.setLimits(SimpleRCservos::Servo5, N_90, P_90); // Mbed p22 |
AjK | 0:c680385286e3 | 18 | servos.setLimits(SimpleRCservos::Servo4, N_90, P_90); // Mbed p23 |
AjK | 0:c680385286e3 | 19 | |
AjK | 0:c680385286e3 | 20 | // The default range is 1ms to 2ms with 1.5ms being the neutral. |
AjK | 0:c680385286e3 | 21 | // This line isn't actually needed as 1ms/2ms is the library's |
AjK | 0:c680385286e3 | 22 | // default but is included here to show how altering it may be |
AjK | 0:c680385286e3 | 23 | // achieved. |
AjK | 1:fbb8acf19e77 | 24 | servos.setRange(SimpleRCservos::Servo6, 1000, 2000); // Servo6 uses p21 |
AjK | 0:c680385286e3 | 25 | |
AjK | 0:c680385286e3 | 26 | // Add a servo pulse range, 900us to 2.1ms, neutral 1.5ms. |
AjK | 1:fbb8acf19e77 | 27 | servos.setRange(SimpleRCservos::Servo5, 900, 2100); // Servo5 uses p22 |
AjK | 0:c680385286e3 | 28 | |
AjK | 0:c680385286e3 | 29 | // Add a servo pulse range, 600us to 2.4ms, neutral 1.5ms. |
AjK | 0:c680385286e3 | 30 | servos.setRange(SimpleRCservos::Servo4, 600, 2400); // Servo4 uses p23 |
AjK | 0:c680385286e3 | 31 | |
AjK | 0:c680385286e3 | 32 | // Enable the Servo (starts producing pulses). |
AjK | 0:c680385286e3 | 33 | servos.enable(SimpleRCservos::Servo6); |
AjK | 0:c680385286e3 | 34 | servos.enable(SimpleRCservos::Servo5); |
AjK | 0:c680385286e3 | 35 | servos.enable(SimpleRCservos::Servo4); |
AjK | 0:c680385286e3 | 36 | |
AjK | 0:c680385286e3 | 37 | while(1) { |
AjK | 0:c680385286e3 | 38 | |
AjK | 0:c680385286e3 | 39 | // Slide up to max |
AjK | 0:c680385286e3 | 40 | for(position = 0; position < P_90; position += 0.1) { |
AjK | 0:c680385286e3 | 41 | servos.position(SimpleRCservos::Servo6, position); |
AjK | 0:c680385286e3 | 42 | servos.position(SimpleRCservos::Servo5, position); |
AjK | 0:c680385286e3 | 43 | servos.position(SimpleRCservos::Servo4, position); |
AjK | 0:c680385286e3 | 44 | wait(0.005); |
AjK | 0:c680385286e3 | 45 | } |
AjK | 0:c680385286e3 | 46 | wait(2); |
AjK | 0:c680385286e3 | 47 | |
AjK | 0:c680385286e3 | 48 | // Slide down to min |
AjK | 0:c680385286e3 | 49 | for(position = P_90; position > N_90; position -= 0.1) { |
AjK | 0:c680385286e3 | 50 | servos.position(SimpleRCservos::Servo6, position); |
AjK | 0:c680385286e3 | 51 | servos.position(SimpleRCservos::Servo5, position); |
AjK | 0:c680385286e3 | 52 | servos.position(SimpleRCservos::Servo4, position); |
AjK | 0:c680385286e3 | 53 | wait(0.005); |
AjK | 0:c680385286e3 | 54 | } |
AjK | 0:c680385286e3 | 55 | wait(2); |
AjK | 0:c680385286e3 | 56 | |
AjK | 0:c680385286e3 | 57 | // Slide back up to neutral |
AjK | 0:c680385286e3 | 58 | for(position = N_90; position < 0; position += 0.1) { |
AjK | 0:c680385286e3 | 59 | servos.position(SimpleRCservos::Servo6, position); |
AjK | 0:c680385286e3 | 60 | servos.position(SimpleRCservos::Servo5, position); |
AjK | 0:c680385286e3 | 61 | servos.position(SimpleRCservos::Servo4, position); |
AjK | 0:c680385286e3 | 62 | wait(0.005); |
AjK | 0:c680385286e3 | 63 | } |
AjK | 0:c680385286e3 | 64 | wait(2); |
AjK | 0:c680385286e3 | 65 | } |
AjK | 0:c680385286e3 | 66 | } |
AjK | 0:c680385286e3 | 67 |