Andrew Holden / Mbed 2 deprecated Servo_ScaleFD

Servo program to run two servos corresponding to face detection software with face proximity and position on an x-axis. (Note that Bluetooth is not enabled yet).

Dependencies:   mbed Servo

main.cpp@1:41e66334a2bb, 2021-03-04 (annotated)

Committer:
andrewh2104
Date:
Thu Mar 04 18:55:27 2021 +0000
Revision:
1:41e66334a2bb
Parent:
0:54315b1ea3ff 
v1.1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
andrewh2104 1:41e66334a2bb 1 //------------Face Detection--------------//
andrewh2104 1:41e66334a2bb 2 //Scale and X-axis to corresponding Servos//
andrewh2104 1:41e66334a2bb 3 //--------Incl. Bluetooth Serial----------//
andrewh2104 1:41e66334a2bb 4 //--------Andrew Holden - 04/3/21---------//
andrewh2104 1:41e66334a2bb 5 //----------For all resolutions-----------//
andrewh2104 0:54315b1ea3ff 6
andrewh2104 0:54315b1ea3ff 7 #include "mbed.h"
andrewh2104 0:54315b1ea3ff 8 #include "stdio.h"
andrewh2104 0:54315b1ea3ff 9 #include "stdlib.h"
andrewh2104 0:54315b1ea3ff 10 #include "iostream"
andrewh2104 1:41e66334a2bb 11 #include "Servo.h"
andrewh2104 0:54315b1ea3ff 12
andrewh2104 0:54315b1ea3ff 13 using namespace std;
andrewh2104 0:54315b1ea3ff 14
andrewh2104 0:54315b1ea3ff 15 Serial pc(USBTX, USBRX); // TX, RX
andrewh2104 0:54315b1ea3ff 16
andrewh2104 0:54315b1ea3ff 17 #if defined(TARGET_LPC1768)
andrewh2104 0:54315b1ea3ff 18 Serial blue(p9, p10); // TX, RX
andrewh2104 0:54315b1ea3ff 19 #endif
andrewh2104 0:54315b1ea3ff 20
andrewh2104 1:41e66334a2bb 21 Servo myservo1(p21);
andrewh2104 1:41e66334a2bb 22 Servo myservo2(p22);
andrewh2104 0:54315b1ea3ff 23
andrewh2104 1:41e66334a2bb 24 float servo = 0.0;
andrewh2104 1:41e66334a2bb 25 float svscale; //face scale between 0-1
andrewh2104 1:41e66334a2bb 26 float svpos; //x-axis pos. between 0-1
andrewh2104 1:41e66334a2bb 27 float round(float svscale) //round to 2 dec. places
andrewh2104 0:54315b1ea3ff 28
andrewh2104 0:54315b1ea3ff 29 {
andrewh2104 0:54315b1ea3ff 30 // EXAMPLE:
andrewh2104 0:54315b1ea3ff 31 // 37.66666 * 100 =3766.66
andrewh2104 0:54315b1ea3ff 32 // 3766.66 + .5 =3767.16 for rounding off value
andrewh2104 0:54315b1ea3ff 33 // then type cast to int so value is 3767
andrewh2104 0:54315b1ea3ff 34 // then divided by 100 so the value converted into 37.67
andrewh2104 1:41e66334a2bb 35 float value = (int)(svscale * 100 + .5);
andrewh2104 0:54315b1ea3ff 36 return (float)value / 100;
andrewh2104 0:54315b1ea3ff 37 }
andrewh2104 0:54315b1ea3ff 38
andrewh2104 0:54315b1ea3ff 39 int main()
andrewh2104 0:54315b1ea3ff 40 {
andrewh2104 0:54315b1ea3ff 41 while(1)
andrewh2104 0:54315b1ea3ff 42 {
andrewh2104 0:54315b1ea3ff 43 //blue.baud(115200);
andrewh2104 0:54315b1ea3ff 44 //pc.baud(115200);
andrewh2104 0:54315b1ea3ff 45
andrewh2104 1:41e66334a2bb 46 if(cin >> svscale >> svpos)
andrewh2104 0:54315b1ea3ff 47 {
andrewh2104 1:41e66334a2bb 48 servo = svscale;
andrewh2104 0:54315b1ea3ff 49
andrewh2104 1:41e66334a2bb 50 if(0.00 <= svscale && svscale < 1.00)
andrewh2104 0:54315b1ea3ff 51 {
andrewh2104 1:41e66334a2bb 52 myservo2 = servo;
andrewh2104 0:54315b1ea3ff 53 }
andrewh2104 0:54315b1ea3ff 54 else
andrewh2104 0:54315b1ea3ff 55 {
andrewh2104 1:41e66334a2bb 56 myservo2 = 0.5; //home position
andrewh2104 0:54315b1ea3ff 57 }
andrewh2104 0:54315b1ea3ff 58
andrewh2104 1:41e66334a2bb 59 servo = svpos;
andrewh2104 1:41e66334a2bb 60
andrewh2104 1:41e66334a2bb 61 if(0.00 <= svpos && svpos < 1.00)
andrewh2104 0:54315b1ea3ff 62 {
andrewh2104 1:41e66334a2bb 63 myservo1 = servo;
andrewh2104 0:54315b1ea3ff 64 }
andrewh2104 1:41e66334a2bb 65 else
andrewh2104 0:54315b1ea3ff 66 {
andrewh2104 1:41e66334a2bb 67 myservo1 = 0.5; //home position
andrewh2104 0:54315b1ea3ff 68 }
andrewh2104 0:54315b1ea3ff 69 }
andrewh2104 0:54315b1ea3ff 70 }
andrewh2104 0:54315b1ea3ff 71 }