main.cpp

00001 /*********************************************************
00002 *RenBuggyServoCtrl                                       *
00003 *Author: Elijah Orr                                      *
00004 *                                                        *  
00005 *This program demonstates use of a library of functions  *
00006 *(ServoDrive) to control the movement of the RenBuggy.   *
00007 *                                                        *
00008 *********************************************************/
00009 
00010 /* include the libraries in use in this program. ServoDrive is a library that can
00011 be used to control a steering servo and two drive motors. */
00012 #include "mbed.h"
00013 #include "ServoDrive.h"
00014 
00015 /* open the main function */
00016 int main()
00017 {
00018     /* instead of using wait() to make delays in the program, for loops will be used
00019     as the wait function caused some buggy behaviour. The for loops will require a
00020     variable so it is declared at the top of the main, this is where all variables
00021     used in the main function should be declared. */
00022     int i;
00023     
00024     /* the first function to be called from ServoDrive.h is used to configure the PWM 
00025     output that controls the servo. Both parameters are values in micro seconds that 
00026     correspond to the period (20000) and pulsewidth (1500) of the PWM signal. 1500
00027     corresponds the the servo in centre postion after the line executes. */
00028     configurePWM(20000, 1500);
00029     
00030     /* function to start the drive motors going is called */
00031     go();
00032     
00033     /* the first delay goes here to make the buggy move forward for a time before 
00034     turning. The for loop will initialise the variable i to be 0, and enter the 
00035     program into a loop that will repeatedly check that i < 25000000 and increment 
00036     i as long as the statement is true. When i = 25000000 the program will exit the 
00037     loop and move on to the next line. */
00038     for(i=0;i<25000000;i++){}
00039     
00040     /* the function to set the direction the servo controlled wheel is facing is 
00041     called. It takes a single parameter that can be any number between 0 and 90,
00042     which represents a value in degrees where 45 points the wheel directly forward. */
00043     setDirection(70);
00044     for(i=0;i<25000000;i++){}
00045     
00046     setDirection(10);
00047     for(i=0;i<25000000;i++){}
00048     
00049     setDirection(90);
00050     for(i=0;i<25000000;i++){}
00051     
00052     setDirection(30);
00053     for(i=0;i<25000000;i++){}
00054     
00055     /* function to stop the drive motors is called */
00056     stop();
00057     
00058     return 0;
00059 }
00060