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:
2015-02-28
Revision:
6:a3829299dfd5
Parent:
4:039a7d1ce3e9
Child:
7:3fcb0d1c41aa

File content as of revision 6:a3829299dfd5:

/*

    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 "DerivedRoomba.h"
#include "Data.h"

Serial pc(PA_11, PA_12);
DerivedRoomba base(PA_9, PA_10, PA_14);

//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(PB_3, 170, 5, 100, true);
ExtendedServo nodHead(PB_10, 170, 5, 110, true);
ExtendedServo leftArm(PA_8, 170, 5, 94, true);
ExtendedServo leftShoulder(PB_5, 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);

DigitalOut debugled(PA_15);
DigitalOut myled(LED1);
DigitalOut nyandaBeam(PA_13);