Anke Post / Mbed 2 deprecated Servoaansturing

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Dependencies:   mbed Servo MODSERIAL FastPWM

Files at this revision

API Documentation at this revision

Revision 5:74962b191242, committed 2019-10-11

Comitter:
AnkePost
Date:
Fri Oct 11 11:06:43 2019 +0000
Parent:
4:8ae0c82c2d60
Commit message:
Werkende servoaansturing, smooth met sinus

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Fri Oct 11 09:57:47 2019 +0000
+++ b/main.cpp	Fri Oct 11 11:06:43 2019 +0000
@@ -1,21 +1,21 @@
 #include "mbed.h"
-#include "Servo.h"
+//#include "Servo.h"
+//#include "FastPWM.h"
+#include <math.h>
 
 Serial pc(USBTX, USBRX);
-Servo myservo(D5);
+PwmOut myservo(D5);
 
 int main()
 {
-    while(1) {
-        for(int i=0; i<100; i++) {
-            myservo = i/100.0;
-            wait(0.01);
-            pc.printf("Naar voren\n\r");
-        }
-        for(int i=100; i>0; i--) {
-            myservo = i/100.0;
-            wait(0.01);
-            pc.printf("Naar achteren\n\r");
-        }
-    }
+  myservo.period(0.02f);
+  float t = 0;
+  while (true)
+    {
+     float ref = sin(t);
+     float pwm = 0.05 + 0.03 * ref;  // maximale bereik: allebei 0.05
+     myservo.write(pwm);
+     t+=0.02;                       // nooit groter dan periode servomotor, zelfde geldt voor regel hieronder
+     wait(0.02); 
+    }  
 }
\ No newline at end of file