Ryota Nakamura
/
Time_Servo_SG90
Nucleo F303K8とSG90を用いたサーボ信号変更における処理時間の測定
main.cpp
- Committer:
- RyotaNakamura
- Date:
- 2017-02-09
- Revision:
- 0:e7072f95dcaf
File content as of revision 0:e7072f95dcaf:
#include "mbed.h" #define ON 1 #define OFF 0 PwmOut servo1(D10); Serial pc(USBTX, USBRX); Timer timer1; Timer timer2; int main() { float pwidth; int miri=1000; servo1.period_ms(20);// pulse cycle = 20ms while(1) { for(pwidth=0.001; pwidth<=0.002; pwidth+=0.000001) { // 1ms ~ 2ms timer1.reset(); timer1.start(); servo1.pulsewidth(pwidth); // pulse servo out timer1.stop(); float t1=timer1.read(); float time1=t1*miri; pc.printf("time1= %f ms\n",time1); wait(0.001); } for(pwidth=0.002; pwidth>=0.001; pwidth-=0.000001) { // 1ms ~ 2ms timer2.reset(); timer2.start(); servo1.pulsewidth(pwidth); // pulse servo out timer2.stop(); float t2=timer2.read(); float time2=t2*miri; pc.printf("time2= %f ms\n",time2); wait(0.001); } } }