Mark Jones / Mbed 2 deprecated RenBuggy_Servo

The programme shows some of the features of the RenBuggyServo library in action.

Dependencies:   mbed

main.cpp@0:40e8ea905308, 2014-03-07 (annotated)

Committer:
Markatron
Date:
Fri Mar 07 08:01:42 2014 +0000
Revision:
0:40e8ea905308
Child:
1:1a5db4892449
This programme shows some of the features of the RenBuggyServo library.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Markatron 0:40e8ea905308 1 /*******************************************************************************
Markatron 0:40e8ea905308 2 * This program demonstrates how to drive the RenBuggy_Servo
Markatron 0:40e8ea905308 3 * using the Car library.
Markatron 0:40e8ea905308 4 *
Markatron 0:40e8ea905308 5 * Mark Jones
Markatron 0:40e8ea905308 6 * V1.0 05/03/2014
Markatron 0:40e8ea905308 7 *******************************************************************************/
Markatron 0:40e8ea905308 8
Markatron 0:40e8ea905308 9 #include "mbed.h"
Markatron 0:40e8ea905308 10 #include "Car.h"
Markatron 0:40e8ea905308 11
Markatron 0:40e8ea905308 12 Car myCar(P1_25, P1_24);
Markatron 0:40e8ea905308 13
Markatron 0:40e8ea905308 14 // Main entry point of application.
Markatron 0:40e8ea905308 15 int main() {
Markatron 0:40e8ea905308 16
Markatron 0:40e8ea905308 17 const int SERVO_PWM = 1500; // 1500 = centre.
Markatron 0:40e8ea905308 18 const int SERVO_PWM_PERIOD = 2000;
Markatron 0:40e8ea905308 19 const int SERVO_PWM_RANGE = 500; // + or - 500 microseconds.
Markatron 0:40e8ea905308 20 const float SERVO_DEGREES_RANGE = 45.0; // + or - from centre is full right/left.
Markatron 0:40e8ea905308 21
Markatron 0:40e8ea905308 22 const int MOTOR_PWM = 20000;
Markatron 0:40e8ea905308 23 const int MOTOR_PERIOD = 20000;
Markatron 0:40e8ea905308 24
Markatron 0:40e8ea905308 25 // Configure the servo and motor before use.
Markatron 0:40e8ea905308 26 myCar.configureServo_us(SERVO_PWM, SERVO_PWM_PERIOD,
Markatron 0:40e8ea905308 27 SERVO_PWM_RANGE, SERVO_DEGREES_RANGE);
Markatron 0:40e8ea905308 28
Markatron 0:40e8ea905308 29 myCar.configureMotor_us(MOTOR_PWM, MOTOR_PERIOD);
Markatron 0:40e8ea905308 30
Markatron 0:40e8ea905308 31 // Drive the RenBuggy!
Markatron 0:40e8ea905308 32 myCar.setDirection(0);
Markatron 0:40e8ea905308 33 wait(1);
Markatron 0:40e8ea905308 34 myCar.forwards();
Markatron 0:40e8ea905308 35 wait(4);
Markatron 0:40e8ea905308 36 myCar.setDirection(45);
Markatron 0:40e8ea905308 37 wait(8);
Markatron 0:40e8ea905308 38 myCar.setDirection(0);
Markatron 0:40e8ea905308 39 wait(4);
Markatron 0:40e8ea905308 40 myCar.setDirection(-45);
Markatron 0:40e8ea905308 41 wait(8);
Markatron 0:40e8ea905308 42 myCar.stop();
Markatron 0:40e8ea905308 43 }