USMA Jumping Agile Ground Robot
Dependencies: mbed Servo PPM_USMA UM7_USMA CAN_FIFO_USMA Roboteq_CANOpen_USMA
main.cpp@11:799693c71751, 2019-11-26 (annotated)
- Committer:
- agentarod23
- Date:
- Tue Nov 26 21:59:11 2019 +0000
- Revision:
- 11:799693c71751
- Parent:
- 7:8605925653cb
- Child:
- 14:bfe1aa066935
Working servo and RC Input using PPM
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
DGonz | 1:2aecd43e9e7b | 1 | /* |
DGonz | 1:2aecd43e9e7b | 2 | JAGBot main program |
DGonz | 1:2aecd43e9e7b | 3 | USMA Jumping Agile Ground Robot |
DGonz | 1:2aecd43e9e7b | 4 | Fall 2019 |
agentarod23 | 0:4c71421f2822 | 5 | |
DGonz | 1:2aecd43e9e7b | 6 | Authors: |
DGonz | 1:2aecd43e9e7b | 7 | Dr. Daniel J. Gonzalez - daniel.gonzalez@westpoint.edu |
DGonz | 1:2aecd43e9e7b | 8 | CDT Andy Rodriguez - andres.rodriguez@westpont.edu |
DGonz | 1:2aecd43e9e7b | 9 | CDT Josh Loyd - joshua.loyd@westpoint.edu |
DGonz | 1:2aecd43e9e7b | 10 | */ |
DGonz | 1:2aecd43e9e7b | 11 | #include "main.h" |
agentarod23 | 0:4c71421f2822 | 12 | |
agentarod23 | 11:799693c71751 | 13 | void setupServo() { |
agentarod23 | 5:e480cc23ad42 | 14 | float myRange = .000675; |
agentarod23 | 6:b1d81a112343 | 15 | float myDegrees = 90; |
agentarod23 | 3:be7e8f2ca326 | 16 | myservo1.calibrate(myRange, myDegrees); |
agentarod23 | 3:be7e8f2ca326 | 17 | myservo2.calibrate(myRange, myDegrees); |
agentarod23 | 3:be7e8f2ca326 | 18 | myservo3.calibrate(myRange, myDegrees); |
agentarod23 | 3:be7e8f2ca326 | 19 | myservo4.calibrate(myRange, myDegrees); |
agentarod23 | 3:be7e8f2ca326 | 20 | } |
agentarod23 | 3:be7e8f2ca326 | 21 | |
DGonz | 1:2aecd43e9e7b | 22 | int main() { |
joshlhsoj1 | 7:8605925653cb | 23 | if (CANTEST){ |
joshlhsoj1 | 7:8605925653cb | 24 | CANTest(); |
agentarod23 | 11:799693c71751 | 25 | }else if(SERVOTEST){ |
agentarod23 | 11:799693c71751 | 26 | calibMain(); |
joshlhsoj1 | 7:8605925653cb | 27 | }else{ |
joshlhsoj1 | 7:8605925653cb | 28 | while(true){ |
joshlhsoj1 | 7:8605925653cb | 29 | for(double p=0; p<=1.0; p += 0.001) { |
joshlhsoj1 | 7:8605925653cb | 30 | myservo1.write(p); |
joshlhsoj1 | 7:8605925653cb | 31 | // wait(0.1); |
joshlhsoj1 | 7:8605925653cb | 32 | myservo2.write(p); |
joshlhsoj1 | 7:8605925653cb | 33 | // wait(0.1); |
joshlhsoj1 | 7:8605925653cb | 34 | myservo3 = p; |
joshlhsoj1 | 7:8605925653cb | 35 | // wait(0.1); |
joshlhsoj1 | 7:8605925653cb | 36 | myservo4 = p; |
joshlhsoj1 | 7:8605925653cb | 37 | wait(0.01); |
joshlhsoj1 | 7:8605925653cb | 38 | } |
joshlhsoj1 | 7:8605925653cb | 39 | for(double p=1; p>=0; p -= 0.001) { |
joshlhsoj1 | 7:8605925653cb | 40 | myservo1.write(p); |
joshlhsoj1 | 7:8605925653cb | 41 | // wait(0.1); |
joshlhsoj1 | 7:8605925653cb | 42 | myservo2.write(p); |
joshlhsoj1 | 7:8605925653cb | 43 | // wait(0.1); |
joshlhsoj1 | 7:8605925653cb | 44 | myservo3 = p; |
joshlhsoj1 | 7:8605925653cb | 45 | // wait(0.1); |
joshlhsoj1 | 7:8605925653cb | 46 | myservo4 = p; |
joshlhsoj1 | 7:8605925653cb | 47 | wait(0.01); |
joshlhsoj1 | 7:8605925653cb | 48 | } |
DGonz | 1:2aecd43e9e7b | 49 | } |
agentarod23 | 0:4c71421f2822 | 50 | } |
agentarod23 | 0:4c71421f2822 | 51 | } |