Yosuke Kirihata / Mbed 2 deprecated Nucleo_CaitSith_Firmware_added_delayServo

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Dependencies:   mbed

Fork of Nucleo_CaitSith_Firmware by Yosuke Kirihata

def_resources.cpp

Committer:
YosukeK
Date:
2015-01-24
Revision:
4:039a7d1ce3e9
Parent:
3:9ac9fdf1856e
Child:
6:a3829299dfd5

File content as of revision 4:039a7d1ce3e9:

/*

    Controller firmware for CaitSithDanger
    
    Kyoto-Densou-An 2014

    Author : yishii
*/

#include <mbed.h>
#include <PwmServo.h>
#include <ExtendedServo.h>
#include <DelayServo.h>
#include "Roomba.h"
#include "EventArg.h"
//#include <RobotArm.h>

//DelayServo shakeHead(PA_10, 25, 10000, 170, 5, 100, true);
//DelayServo nodHead(PB_10, 25, 10000, 170, 5, 110, true);
//
//DelayServo leftArm(PA_8, 10, 10000, 170, 5, 94, true);
//DelayServo leftShoulder(PA_9, 10, 10000, 170, 5, 90, true);
//
//DelayServo rightArm(PB_8, 10, 10000, 170, 5, 116, true);
//DelayServo rightShoulder(PB_9, 10, 10000, 170, 5, 90, false);
ExtendedServo shakeHead(PA_10, 170, 5, 100, true);
ExtendedServo nodHead(PB_10, 170, 5, 110, true);

ExtendedServo leftArm(PA_8, 170, 5, 94, true);
ExtendedServo leftShoulder(PA_9, 170, 5, 90, true);

ExtendedServo rightArm(PB_8, 170, 5, 116, true);
ExtendedServo rightShoulder(PB_9, 170, 5, 90, false);

ExtendedServo oyatsuFeeder(PA_0, 170, 10, 0, false);

Serial pc(PA_11, PA_12);
Roomba base(PA_2, PA_3, PA_14);
DigitalOut debugled(PA_15);


DigitalOut myled(LED1);
DigitalOut nyandaLight(PA_13);