Diff: main.cpp

Revision:

0:a46cb73d2e3e

diff -r 000000000000 -r a46cb73d2e3e main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Jan 13 21:15:52 2017 +0000
@@ -0,0 +1,69 @@
+/* Martin Cottrell v0.1                                            */
+/* Thanks for all the examples this is based on                    */
+/* This is an initial proof of concept using PCA9685 with microbit */
+/* Needs many refinements and I'll also looking at PWM 9110s next  */
+/* Enjoy!                                                          */
+
+#include "MicroBit.h"
+#include "MicroBitPCA9685.h"
+MicroBit uBit;
+
+int setServoPulse(MicroBitPCA9685& uPCA9685, uint8_t n, float pulse) {
+    float pulselength = 10000;   // 10,000 units per seconds
+    pulse = 4094 * pulse / pulselength;
+    return uPCA9685.setPWM(n, 0, pulse);
+}
+
+int setAllServoPulse(MicroBitPCA9685& uPCA9685, float pulse) {
+    float pulselength = 10000;   // 10,000 units per seconds
+    pulse = 4094 * pulse / pulselength;
+    return uPCA9685.setAllPWM(0, pulse);
+}
+ 
+void initServoDriver(MicroBitPCA9685& uPCA9685) {
+    uPCA9685.begin();
+    uPCA9685.setPrescale(64);    //This value is decided for 10ms interval.
+    uPCA9685.frequencyI2C(400000); //400kHz
+ }
+
+int main()
+{
+     // Initialise the micro:bit runtime.
+    uBit.init();
+    MicroBitPCA9685 uPCA9685(uBit.i2c, 0x80);
+    //0x80 out the box PCA9685 address
+
+    initServoDriver(uPCA9685);
+    while(true){  
+        uBit.display.scroll("All");
+        setAllServoPulse(uPCA9685, 2300);
+        wait(0.5);
+        setAllServoPulse(uPCA9685, 1350);
+        wait(0.5);
+        
+        for (int mov = 550; mov < 2300; mov++){
+            setAllServoPulse(uPCA9685, mov);
+            wait(0.001); 
+        } 
+            
+        for (int motor = 0; motor < 7; motor++){
+            //I had 7 servos!
+            char buf[2];
+            sprintf(buf, "%d", motor);
+            uBit.display.scroll(buf, 50);
+    
+            wait(0.2);
+            setServoPulse(uPCA9685, motor, 2300);
+   
+            wait(0.4);//delay necessary to perform the action
+            setServoPulse(uPCA9685, motor, 1350);
+            wait(0.4);
+            
+            for (int mov = 550; mov < 2300; mov++){
+                setServoPulse(uPCA9685, motor, mov);
+                wait(0.001); 
+            } 
+        } 
+    
+   }
+}
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