Andy Rodriguez / Mbed 2 deprecated JAGBot

USMA Jumping Agile Ground Robot

Dependencies:   mbed Servo PPM_USMA UM7_USMA CAN_FIFO_USMA Roboteq_CANOpen_USMA

main.cpp@3:be7e8f2ca326, 2019-10-25 (annotated)

Committer:
agentarod23
Date:
Fri Oct 25 19:34:57 2019 +0000
Revision:
3:be7e8f2ca326
Parent:
1:2aecd43e9e7b
Child:
4:1efc88189b46
joshy;

Who changed what in which revision?

UserRevisionLine numberNew 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 3:be7e8f2ca326 13 void setup() {
agentarod23 3:be7e8f2ca326 14 float myRange = 0.001;
agentarod23 3:be7e8f2ca326 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() {
DGonz 1:2aecd43e9e7b 23 while(true){
agentarod23 3:be7e8f2ca326 24 for(float p=0; p<=1.0; p += 0.05) {
DGonz 1:2aecd43e9e7b 25 myservo1.write(p);
DGonz 1:2aecd43e9e7b 26 wait(0.1);
DGonz 1:2aecd43e9e7b 27 myservo2.write(p);
DGonz 1:2aecd43e9e7b 28 wait(0.1);
DGonz 1:2aecd43e9e7b 29 myservo3 = p;
DGonz 1:2aecd43e9e7b 30 wait(0.1);
DGonz 1:2aecd43e9e7b 31 myservo4 = p;
DGonz 1:2aecd43e9e7b 32 wait(0.1);
DGonz 1:2aecd43e9e7b 33 }
agentarod23 3:be7e8f2ca326 34 for(float p=1; p>=0; p -= 0.05) {
DGonz 1:2aecd43e9e7b 35 myservo1.write(p);
DGonz 1:2aecd43e9e7b 36 wait(0.1);
DGonz 1:2aecd43e9e7b 37 myservo2.write(p);
DGonz 1:2aecd43e9e7b 38 wait(0.1);
DGonz 1:2aecd43e9e7b 39 myservo3 = p;
DGonz 1:2aecd43e9e7b 40 wait(0.1);
DGonz 1:2aecd43e9e7b 41 myservo4 = p;
DGonz 1:2aecd43e9e7b 42 wait(0.1);
DGonz 1:2aecd43e9e7b 43 }
agentarod23 0:4c71421f2822 44 }
agentarod23 0:4c71421f2822 45 }