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Nucleo_ServoKnob
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Nucleo_ServoKnob
by 
Jose Rios
main.cpp
- Committer:
- PasKalou
- Date:
- 2016-05-29
- Revision:
- 1:f66f012c59de
- Parent:
- 0:3a3bfe92df7c
- Child:
- 2:204230a9177d
File content as of revision 1:f66f012c59de:
#include "mbed.h"
#include "Servo.h"
#include <math.h>
#define PI 3.14159265
//------------------------------------
// Hyperterminal configuration
// 9600 bauds, 8-bit data, no parity
//------------------------------------
Serial pc(SERIAL_TX, SERIAL_RX);
// configuration
Servo myservo0(D3); // Create the servo object
Servo myservo1(D5); // Create the servo object
Servo myservo2(D6); // Create the servo object
Servo myservo3(D9); // Create the servo object
AnalogIn knob0(A0); // Create the analog input object
AnalogIn knob1(A1); // Create the analog input object
AnalogIn knob2(A2); // Create the analog input object
AnalogIn knob3(A3); // Create the analog input object
DigitalIn monBouton(PC_13);
// fonction mapper
//
// quand i parcours l'intervalle [a ; b] alors j parcours l'intervalle [0 ; PI]
//
float mapper(float i, float a, float b, float c, float d)
{
float j;
j = ( ( d * (i - a) - c * (i - b) ) / (b - a) ) ;
return j;
}
// fonction ralentir
//
// retourne un coefficient compris entre 1 et 0
// avec une progression sinusoidale lorsque i parcours
// l'intervalle [a ; b] avec une progression linéaire
//
float accelerer(float i , float a , float b)
{
float j;
float angle;
if (i < a) {
j = 1;
} else if (i > b) {
j = 0;
} else {
angle = mapper (i , a , b , (-1 * PI) , 0 );
j = ((1 + cos(angle))/2);
}
return j;
}
float ralentir(float i , float a , float b)
{
float j;
float angle;
if (i < a) {
j = 1;
} else if (i > b) {
j = 0;
} else {
angle = mapper (i , a , b , 0 , PI );
j = ((1 + cos(angle))/2);
}
return j;
}
// fonction test
//
//
void test()
{
float j;
float a = 1 ;
float b = 0.5 ;
float nb = 100;
float coef ;
for (float i = 0 ; i< abs( (b-a) * nb ) ; i++) {
j = (i/nb);
coef = ralentir ( j , 0 , abs(b-a) );
myservo1.write (b - coef * (b-a));
wait_ms(10);
}
}
void aller(float fin0, float fin1)
{
float debut0 = myservo0.read();
// float fin0=0.5;
float debut1 = myservo1.read();
// float fin1=1;
float debut2 = debut0;
float fin2 = fin0;
int i;
for(i=0; i<100; i++) {
// remplacement du coefficient i/100 par un sinus
// et donc mouvement plus fluide
pc.printf("toto");
myservo1.write (debut1 + sin(i*PI/2.0/100.0) * (fin1-debut1));
wait_ms(2);
myservo0.write (debut0 + sin(i*PI/2.0/100.0) * (fin0-debut0));
wait_ms(2);
myservo2.write (debut2 + sin(i*PI/2.0/100.0) * (fin2-debut2));
wait_ms(2);
wait_ms(10);
}
myservo0.write(fin0);
wait_ms(15);
myservo1.write(fin1);
wait_ms(15);
myservo2.write(fin2);
wait_ms(15);
}
int main()
{
//calibration
myservo0.calibrate(0.00105, 150.0); // Calibrate the servo HDKJ D3015
myservo1.calibrate(0.00105, 150.0); // Calibrate the servo HDKJ D3015
myservo2.calibrate(0.00105, 150.0); // Calibrate the servo HDKJ D3015
myservo3.calibrate(0.00105, 150.0); // Calibrate the servo HDKJ D3015
//
// pour le servo tout merdique arduino :
// myservo1.calibrate(0.00075, 70.0); // Calibrate the servo GROOVE tout petit tout mini
//
// réinitialisation
aller(0.15,0.6);
wait_ms(3000);
aller(0.2,0.2);
aller(0.90,0.15);
aller(0.5,1);
wait_ms(3000);
//boucle
while(1) {
if (monBouton==0) {
pc.printf("\ntoto\n");
test();
}
/*
aller(0.5,1);
aller(0.4,0.9);
aller(0.6,0.8);
aller(0.5,0.5);
wait_ms(3000);
*/
/*
for(int i=0; i<100; i++) {
myservo0.write(i/100.0);
wait_ms(10);
myservo1 = i/100.0;
wait_ms(10);
}
for(int i=100; i>0; i--) {
myservo0 = i/100.0;
wait_ms(10);
myservo1 = i/100.0;
wait_ms(10);
}
val = knob0.read(); // Reads the value of the potentiometer (value between 0 and 1)
pc.printf("val = %f\n",val);
myservo0.write(val); // Sets the servo position according to the scaled value (0-1)
wait_ms(15); // Waits for the servo to get there
myservo0.position(0.0); // Sets the servo position according to the scaled value (0-1) wait_ms(1500); // Sets the servo position according to the scaled value (0-1)
wait_ms(15); // Sets the servo position according to the scaled value (0-1)
myservo1.position(-90.0); // Sets the servo position according to the scaled value (0-1) wait_ms(1500); // Sets the servo position according to the scaled value (0-1)
wait_ms(15); // Sets the servo position according to the scaled value (0-1)
myservo2.position(0); // Sets the servo position according to the scaled value (0-1)
wait_ms(15); // Sets the servo position according to the scaled value (0-1)
//
wait_ms(3000); // Sets the servo position according to the scaled value (0-1)
//
myservo0.position(-90.0); // Sets the servo position according to the scaled value (0-1) wait_ms(1500); // Sets the servo position according to the scaled value (0-1)
wait_ms(15); // Sets the servo position according to the scaled value (0-1)
myservo1.position(-60.0); // Sets the servo position according to the scaled value (0-1) wait_ms(1500); // Sets the servo position according to the scaled value (0-1)
wait_ms(15); // Sets the servo position according to the scaled value (0-1)
myservo2.position(-80); // Sets the servo position according to the scaled value (0-1)
wait_ms(15); // Sets the servo position according to the scaled value (0-1)
// Sets the servo position according to the scaled value (0-1)
//
wait_ms(3000); // Sets the servo position according to the scaled value (0-1)
//
myservo0.position(10.0); // Sets the servo position according to the scaled value (0-1) wait_ms(1500); // Sets the servo position according to the scaled value (0-1)
wait_ms(15); // Sets the servo position according to the scaled value (0-1)
myservo1.position(90.0); // Sets the servo position according to the scaled value (0-1) wait_ms(1500); // Sets the servo position according to the scaled value (0-1)
wait_ms(15); // Sets the servo position according to the scaled value (0-1)
myservo2.position(0); // Sets the servo position according to the scaled value (0-1)
wait_ms(3000); // Sets the servo position according to the scaled value (0-1)
// myservo0.position(-45.0); // Sets the servo position according to the scaled value (0-1)
// wait_ms(3500); // Sets the servo position according to the scaled value (0-1)
val = knob0.read(); // Reads the value of the potentiometer (value between 0 and 1)
myservo0.write(1); // Sets the servo position according to the scaled value (0-1)
myservo0.write(1); // Sets the servo position according to the scaled value (0-1)
wait_ms(15); // Sets the servo position according to the scaled value (0-1)
myservo1.write(1); // Sets the servo position according to the scaled value (0-1)
wait_ms(3000);
// Waits for the servo to get there
val = knob2.read(); // Reads the value of the potentiometer (value between 0 and 1)
myservo2.write(val); // Sets the servo position according to the scaled value (0-1)
wait_ms(15); // Waits for the servo to get there
val = knob3.read(); // Reads the value of the potentiometer (value between 0 and 1)
myservo3.write(val); // Sets the servo position according to the scaled value (0-1)
wait_ms(15); // Waits for the servo to get there
*/
}
}