main.cpp

00001 #include "mbed.h"
00002 #include "Servo.h"
00003 
00004 
00005 DigitalOut myled(LED1);
00006 DigitalOut myled2(LED2);
00007 InterruptIn w(p16);
00008 Timer timer;
00009 LocalFileSystem local("local");
00010 Servo serv (p21);
00011 
00012 int begin,end;
00013 int begin2,end2,ws;
00014 int single_spin;
00015 int count;
00016 float i = 0.5;
00017 
00018 void trigger() {
00019     
00020     begin = timer.read_ms();
00021     single_spin = begin - end;
00022     end = timer.read_ms();
00023     
00024     
00025     begin2 = timer.read_ms();
00026     FILE *fp = fopen("/local/out.csv", "a");
00027     count = count + 1;
00028     myled2 = !myled2;
00029     fprintf(fp, "%d, %d, %d, %.2f\n", count, single_spin, ws, i);
00030     fclose(fp);
00031     
00032     end2 = timer.read_ms();       
00033     ws = end2 - begin2;
00034     end = end - ws;
00035 }
00036 
00037 
00038 int main() {
00039     timer.start();
00040     w.rise(&trigger);
00041     FILE *fp = fopen("/local/out.csv", "a");
00042     fprintf(fp, "Turn_No, Time(ms), Write_time(ms), servo_setting\n");
00043     fclose(fp); 
00044 
00045     while (1) { // set this so it dont keep smashing in to walls !
00046 
00047         serv.write(0.01);
00048         wait(0.5);
00049         i -= 0.01;
00050         myled = !myled;
00051         
00052         if (i <= 0 ){
00053         break;
00054         } 
00055         
00056     }
00057 
00058     serv.write(0.5);
00059 
00060 
00061 
00062 }