Matthew Sessions / Mbed 2 deprecated Lab6_Basic

Added various bits, main reformatted. Added .get to class Servo to allow waiting for rotation before recording information.

Dependencies:   SLCD mbed

Fork of Lab6_Basic by ECE 111 At Oregon State University

Motor.cpp@6:a64d79286726, 2016-11-19 (annotated)

Committer:
Dogcatfee
Date:
Sat Nov 19 08:32:04 2016 +0000
Revision:
6:a64d79286726
Parent:
3:b787aa49b900
Child:
8:c2f0e524696b
Added while/if statement to wait for rotation before recording.; Added .get() to Servo class, returns unsigned int of approximated rotation.; Added const int size to change size of arrays and loops; Added position_array with for fill.; Reformatted main.;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Dogcatfee 6:a64d79286726 1 #include "mbed.h"
Dogcatfee 6:a64d79286726 2 #include "Servo.h"
Dogcatfee 6:a64d79286726 3 // gloabl varevlbe used only inseide the class
Dogcatfee 6:a64d79286726 4 int value_current;
Dogcatfee 6:a64d79286726 5 int value_target;
Dogcatfee 6:a64d79286726 6 float value_target_raw;
Dogcatfee 6:a64d79286726 7 Ticker tick;
Dogcatfee 6:a64d79286726 8 SLCD slcd;
Dogcatfee 6:a64d79286726 9 int n;
Dogcatfee 6:a64d79286726 10 int counter;
Dogcatfee 6:a64d79286726 11 char buffer[50];
ziadeldebri 3:b787aa49b900 12
Dogcatfee 6:a64d79286726 13 Servo::Servo(PinName analog_input,PinName Positive, PinName Negative,PinName Speed):
Dogcatfee 6:a64d79286726 14 _feedback(analog_input),_motor(Positive,Negative,Speed) {
Dogcatfee 6:a64d79286726 15
Dogcatfee 6:a64d79286726 16 }
Dogcatfee 6:a64d79286726 17 /* input is angle intger from 0 - 180
Dogcatfee 6:a64d79286726 18 *
Dogcatfee 6:a64d79286726 19 */
Dogcatfee 6:a64d79286726 20 void Servo::set(int degree) {
Dogcatfee 6:a64d79286726 21 if(degree > 90){
Dogcatfee 6:a64d79286726 22 value_target = degree; // set the value target as the input of the function
Dogcatfee 6:a64d79286726 23 tick.attach(this,&Servo::move,0.001); // set the ticker to call move every 0.001 sec
Dogcatfee 6:a64d79286726 24 }
Dogcatfee 6:a64d79286726 25 else{
Dogcatfee 6:a64d79286726 26 value_target = degree-15; // set the value target as the input of the function
Dogcatfee 6:a64d79286726 27 tick.attach(this,&Servo::move,0.001);
Dogcatfee 6:a64d79286726 28 }
Dogcatfee 6:a64d79286726 29
Dogcatfee 6:a64d79286726 30 }//End of Move
Dogcatfee 6:a64d79286726 31
Dogcatfee 6:a64d79286726 32 void Servo::move() {
Dogcatfee 6:a64d79286726 33
Dogcatfee 6:a64d79286726 34 value_current = (int)((int)(_feedback*1000)*0.30769230769);
Dogcatfee 6:a64d79286726 35
Dogcatfee 6:a64d79286726 36 if(value_target > value_current){
Dogcatfee 6:a64d79286726 37 _motor.Direction(LEFT);
Dogcatfee 6:a64d79286726 38 // _motor.Speed(10);
Dogcatfee 6:a64d79286726 39 //wait(0.1);
Dogcatfee 6:a64d79286726 40 n = sprintf (buffer, "%d", value_current);
Dogcatfee 6:a64d79286726 41 slcd.clear();
Dogcatfee 6:a64d79286726 42 slcd.Home();
Dogcatfee 6:a64d79286726 43 slcd.printf(buffer);
Dogcatfee 6:a64d79286726 44 }
Dogcatfee 6:a64d79286726 45 else if(value_target < value_current){
Dogcatfee 6:a64d79286726 46 _motor.Direction(RIGHT);
Dogcatfee 6:a64d79286726 47 // _motor.Speed(counter);
Dogcatfee 6:a64d79286726 48 n = sprintf (buffer, "%d", value_current);
Dogcatfee 6:a64d79286726 49 slcd.clear();
Dogcatfee 6:a64d79286726 50 slcd.Home();
Dogcatfee 6:a64d79286726 51 slcd.printf(buffer);
Dogcatfee 6:a64d79286726 52 }
Dogcatfee 6:a64d79286726 53 else if((value_target == value_current))
Dogcatfee 6:a64d79286726 54 {
Dogcatfee 6:a64d79286726 55 tick.detach();
Dogcatfee 6:a64d79286726 56 _motor.Stop();
Dogcatfee 6:a64d79286726 57 n = sprintf (buffer, "%d", value_current);
Dogcatfee 6:a64d79286726 58 slcd.clear();
Dogcatfee 6:a64d79286726 59 slcd.Home();
Dogcatfee 6:a64d79286726 60 slcd.printf(buffer);
Dogcatfee 6:a64d79286726 61 }
ziadeldebri 3:b787aa49b900 62
ziadeldebri 3:b787aa49b900 63
Dogcatfee 6:a64d79286726 64
Dogcatfee 6:a64d79286726 65
Dogcatfee 6:a64d79286726 66 }
Dogcatfee 6:a64d79286726 67
Dogcatfee 6:a64d79286726 68 unsigned int Servo::get()
Dogcatfee 6:a64d79286726 69 {
Dogcatfee 6:a64d79286726 70 value_current = (int)((int)(_feedback*1000)*0.30769230769);
Dogcatfee 6:a64d79286726 71 // n = sprintf (buffer, "%d", value_current);
Dogcatfee 6:a64d79286726 72 return value_current;
ziadeldebri 3:b787aa49b900 73 }
ziadeldebri 3:b787aa49b900 74
Dogcatfee 6:a64d79286726 75 void Servo::check() {
Dogcatfee 6:a64d79286726 76
Dogcatfee 6:a64d79286726 77 value_current = (int)((int)(_feedback*1000)*0.30769230769);
Dogcatfee 6:a64d79286726 78 n = sprintf (buffer, "%d", value_current);
Dogcatfee 6:a64d79286726 79 slcd.clear();
Dogcatfee 6:a64d79286726 80 slcd.Home();
Dogcatfee 6:a64d79286726 81 slcd.printf(buffer);
Dogcatfee 6:a64d79286726 82
Dogcatfee 6:a64d79286726 83 }
Dogcatfee 6:a64d79286726 84
Dogcatfee 6:a64d79286726 85
Dogcatfee 6:a64d79286726 86