Diff: main.cpp

Revision:

0:5c66eca35e35

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Apr 18 01:39:24 2016 +0000
@@ -0,0 +1,74 @@
+/************************************************************************************
+Lab 07 - Problem 3
+This program moves two servos back and forth in opposite directions, completing one
+    full cycle every 10 seconds. At the same time, the program spins the DC
+    motor forward while the servos are moving their first 180 degrees, then backward
+    while the servos are moving back to their original position.
+MIDN 3/C Drew Moore
+24 FEB 2016
+***********************************************************************************/
+
+// Standard Includes
+#include "mbed.h"
+#include "Motor.h"
+#include "Servo.h"
+
+Serial pc(USBTX, USBRX); // tx, rx
+
+// Declare objects referencing pins in the application board
+Motor motor(p26, p30, p29);
+Servo myServo1(p21);
+Servo myServo2(p22);
+
+
+
+main(){
+
+motor.speed(0.0); // Initialize motor speed to zero
+myServo1.calibrate(.0009, 90); // Calibrate Servo 1
+myServo2.calibrate(.0009, 90); // Calibrate Servo 2
+
+
+    float i; // Declare a counter variable
+    float speed = 0.2; // Beginning speed of motor
+    
+    while(1){ // Provide an infinite loop
+        
+        i = 0;
+        
+        myServo1 = 0.0;
+        myServo2 = 1.0;
+        
+        while (i < 1.0){ // Loop to increment the servos 
+                         // to their first 180 degrees
+            motor.speed(speed); // Move motor forward
+            myServo1 = i;
+            myServo2 = 1-i; // Make the position of Servo2
+                            // the opposite of Servo 1 to 
+                            // get a windshield wiper motion
+            i += .125;
+            wait(.625);
+            
+        }
+        
+        i = 0;
+        myServo1 = 1.0;
+        myServo2 = 0.0;
+        // Move the motor in the opposite direction
+        if ( speed <= 1.0 ) {
+            motor.speed(-speed);
+        }
+         
+        while (i < 1.0){ // Similar to first while loop,
+                         // but moving the servos back
+            myServo1 = 1-i;
+            myServo2 = i;
+            i += .125;
+            wait(.625);
+        }
+        
+        if( speed < 1.0) { // Increment speed
+            speed += .1;
+        }            
+    }
+}
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