Yi Lin Chen
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Boboobooo
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servo_api.cpp@1:82bc25a7b68b, 2014-06-03 (annotated)
- Committer:
- backman
- Date:
- Tue Jun 03 15:53:55 2014 +0000
- Revision:
- 1:82bc25a7b68b
- Child:
- 8:089b778962c4
cam_algroithm
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| backman | 1:82bc25a7b68b | 1 | // 0~180 angle 1~2ms |
| backman | 1:82bc25a7b68b | 2 | #include "mbed.h" |
| backman | 1:82bc25a7b68b | 3 | #include "servo_api.h" |
| backman | 1:82bc25a7b68b | 4 | |
| backman | 1:82bc25a7b68b | 5 | |
| backman | 1:82bc25a7b68b | 6 | #define right_end 0.05 //90 |
| backman | 1:82bc25a7b68b | 7 | |
| backman | 1:82bc25a7b68b | 8 | #define left_end 0.1 //-90 |
| backman | 1:82bc25a7b68b | 9 | |
| backman | 1:82bc25a7b68b | 10 | //memory opt |
| backman | 1:82bc25a7b68b | 11 | // 5 degree seperate |
| backman | 1:82bc25a7b68b | 12 | |
| backman | 1:82bc25a7b68b | 13 | |
| backman | 1:82bc25a7b68b | 14 | |
| backman | 1:82bc25a7b68b | 15 | BX_servo::BX_servo(void){ |
| backman | 1:82bc25a7b68b | 16 | |
| backman | 1:82bc25a7b68b | 17 | |
| backman | 1:82bc25a7b68b | 18 | angle = 0; |
| backman | 1:82bc25a7b68b | 19 | |
| backman | 1:82bc25a7b68b | 20 | servo_in= new PwmOut(PTB0); |
| backman | 1:82bc25a7b68b | 21 | |
| backman | 1:82bc25a7b68b | 22 | servo_in->period_ms(20); |
| backman | 1:82bc25a7b68b | 23 | |
| backman | 1:82bc25a7b68b | 24 | for(int i=0;i<37;i++){ |
| backman | 1:82bc25a7b68b | 25 | |
| backman | 1:82bc25a7b68b | 26 | angle_level[i]=i*(0.05/36)+right_end; |
| backman | 1:82bc25a7b68b | 27 | } |
| backman | 1:82bc25a7b68b | 28 | |
| backman | 1:82bc25a7b68b | 29 | *servo_in =angle_level[18]; |
| backman | 1:82bc25a7b68b | 30 | |
| backman | 1:82bc25a7b68b | 31 | |
| backman | 1:82bc25a7b68b | 32 | } |
| backman | 1:82bc25a7b68b | 33 | |
| backman | 1:82bc25a7b68b | 34 | |
| backman | 1:82bc25a7b68b | 35 | |
| backman | 1:82bc25a7b68b | 36 | |
| backman | 1:82bc25a7b68b | 37 | |
| backman | 1:82bc25a7b68b | 38 | |
| backman | 1:82bc25a7b68b | 39 | int BX_servo::set_angle(int a){ |
| backman | 1:82bc25a7b68b | 40 | |
| backman | 1:82bc25a7b68b | 41 | |
| backman | 1:82bc25a7b68b | 42 | angle=a; |
| backman | 1:82bc25a7b68b | 43 | |
| backman | 1:82bc25a7b68b | 44 | *servo_in=angle_level[18+a/5]; |
| backman | 1:82bc25a7b68b | 45 | |
| backman | 1:82bc25a7b68b | 46 | |
| backman | 1:82bc25a7b68b | 47 | |
| backman | 1:82bc25a7b68b | 48 | return angle; |
| backman | 1:82bc25a7b68b | 49 | |
| backman | 1:82bc25a7b68b | 50 | } |