Drew Moore / Mbed 2 deprecated Lab7PartC

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Dependencies:   Motor Servo mbed

main.cpp@0:5c66eca35e35, 2016-04-18 (annotated)

Committer:
TheDoctor822
Date:
Mon Apr 18 01:39:24 2016 +0000
Revision:
0:5c66eca35e35
Lab 7 part C

Who changed what in which revision?

UserRevisionLine numberNew contents of line
TheDoctor822 0:5c66eca35e35 1 /************************************************************************************
TheDoctor822 0:5c66eca35e35 2 Lab 07 - Problem 3
TheDoctor822 0:5c66eca35e35 3 This program moves two servos back and forth in opposite directions, completing one
TheDoctor822 0:5c66eca35e35 4 full cycle every 10 seconds. At the same time, the program spins the DC
TheDoctor822 0:5c66eca35e35 5 motor forward while the servos are moving their first 180 degrees, then backward
TheDoctor822 0:5c66eca35e35 6 while the servos are moving back to their original position.
TheDoctor822 0:5c66eca35e35 7 MIDN 3/C Drew Moore
TheDoctor822 0:5c66eca35e35 8 24 FEB 2016
TheDoctor822 0:5c66eca35e35 9 ***********************************************************************************/
TheDoctor822 0:5c66eca35e35 10
TheDoctor822 0:5c66eca35e35 11 // Standard Includes
TheDoctor822 0:5c66eca35e35 12 #include "mbed.h"
TheDoctor822 0:5c66eca35e35 13 #include "Motor.h"
TheDoctor822 0:5c66eca35e35 14 #include "Servo.h"
TheDoctor822 0:5c66eca35e35 15
TheDoctor822 0:5c66eca35e35 16 Serial pc(USBTX, USBRX); // tx, rx
TheDoctor822 0:5c66eca35e35 17
TheDoctor822 0:5c66eca35e35 18 // Declare objects referencing pins in the application board
TheDoctor822 0:5c66eca35e35 19 Motor motor(p26, p30, p29);
TheDoctor822 0:5c66eca35e35 20 Servo myServo1(p21);
TheDoctor822 0:5c66eca35e35 21 Servo myServo2(p22);
TheDoctor822 0:5c66eca35e35 22
TheDoctor822 0:5c66eca35e35 23
TheDoctor822 0:5c66eca35e35 24
TheDoctor822 0:5c66eca35e35 25 main(){
TheDoctor822 0:5c66eca35e35 26
TheDoctor822 0:5c66eca35e35 27 motor.speed(0.0); // Initialize motor speed to zero
TheDoctor822 0:5c66eca35e35 28 myServo1.calibrate(.0009, 90); // Calibrate Servo 1
TheDoctor822 0:5c66eca35e35 29 myServo2.calibrate(.0009, 90); // Calibrate Servo 2
TheDoctor822 0:5c66eca35e35 30
TheDoctor822 0:5c66eca35e35 31
TheDoctor822 0:5c66eca35e35 32 float i; // Declare a counter variable
TheDoctor822 0:5c66eca35e35 33 float speed = 0.2; // Beginning speed of motor
TheDoctor822 0:5c66eca35e35 34
TheDoctor822 0:5c66eca35e35 35 while(1){ // Provide an infinite loop
TheDoctor822 0:5c66eca35e35 36
TheDoctor822 0:5c66eca35e35 37 i = 0;
TheDoctor822 0:5c66eca35e35 38
TheDoctor822 0:5c66eca35e35 39 myServo1 = 0.0;
TheDoctor822 0:5c66eca35e35 40 myServo2 = 1.0;
TheDoctor822 0:5c66eca35e35 41
TheDoctor822 0:5c66eca35e35 42 while (i < 1.0){ // Loop to increment the servos
TheDoctor822 0:5c66eca35e35 43 // to their first 180 degrees
TheDoctor822 0:5c66eca35e35 44 motor.speed(speed); // Move motor forward
TheDoctor822 0:5c66eca35e35 45 myServo1 = i;
TheDoctor822 0:5c66eca35e35 46 myServo2 = 1-i; // Make the position of Servo2
TheDoctor822 0:5c66eca35e35 47 // the opposite of Servo 1 to
TheDoctor822 0:5c66eca35e35 48 // get a windshield wiper motion
TheDoctor822 0:5c66eca35e35 49 i += .125;
TheDoctor822 0:5c66eca35e35 50 wait(.625);
TheDoctor822 0:5c66eca35e35 51
TheDoctor822 0:5c66eca35e35 52 }
TheDoctor822 0:5c66eca35e35 53
TheDoctor822 0:5c66eca35e35 54 i = 0;
TheDoctor822 0:5c66eca35e35 55 myServo1 = 1.0;
TheDoctor822 0:5c66eca35e35 56 myServo2 = 0.0;
TheDoctor822 0:5c66eca35e35 57 // Move the motor in the opposite direction
TheDoctor822 0:5c66eca35e35 58 if ( speed <= 1.0 ) {
TheDoctor822 0:5c66eca35e35 59 motor.speed(-speed);
TheDoctor822 0:5c66eca35e35 60 }
TheDoctor822 0:5c66eca35e35 61
TheDoctor822 0:5c66eca35e35 62 while (i < 1.0){ // Similar to first while loop,
TheDoctor822 0:5c66eca35e35 63 // but moving the servos back
TheDoctor822 0:5c66eca35e35 64 myServo1 = 1-i;
TheDoctor822 0:5c66eca35e35 65 myServo2 = i;
TheDoctor822 0:5c66eca35e35 66 i += .125;
TheDoctor822 0:5c66eca35e35 67 wait(.625);
TheDoctor822 0:5c66eca35e35 68 }
TheDoctor822 0:5c66eca35e35 69
TheDoctor822 0:5c66eca35e35 70 if( speed < 1.0) { // Increment speed
TheDoctor822 0:5c66eca35e35 71 speed += .1;
TheDoctor822 0:5c66eca35e35 72 }
TheDoctor822 0:5c66eca35e35 73 }
TheDoctor822 0:5c66eca35e35 74 }