main.cpp

00001 /* Servo controller mini-project. Three button control for HS422 servo, left 10*, right 10*, reset to center. 
00002 Austin Sloop, 1/7/16
00003 */
00004 
00005 #include "mbed.h"
00006 
00007 DigitalIn right(p5);        //Right button, CW
00008 DigitalIn left(p9);         //Left button, CCW
00009 DigitalIn reset(p7);        //Middle button, reset to 0
00010 
00011 PwmOut servo(p21);          //Servo Control
00012 DigitalOut L(LED1);         //Debug LED
00013 DigitalOut R(LED3);         //Debugging Purposes
00014 DigitalOut C(LED2);         //Debug LED
00015 
00016 int i=1500;               //value of servo position
00017 int main(){
00018 servo.period(0.020);
00019     while(1){       
00020         if (right==1){
00021             wait(0.05);
00022             if (right==0){
00023                 i=i+100; 
00024                 R=1;
00025                 wait(.1);
00026                 R=0;   
00027             }
00028         }
00029         if (left==1) {
00030             wait(0.05);
00031             if (left==0){
00032                 i=i-100;
00033                 L=1;
00034                 wait(.1);
00035                 L=0;
00036             }
00037         }
00038         if (reset==1) {
00039             wait(0.05);
00040             if (reset==0){
00041                 i=1500;
00042                 C=1;
00043                 wait(.1);
00044                 C=0;
00045             }
00046         }
00047         if (i>2400) {i=2400;}            //Prevention of over-extention of servo
00048         if (i<600) {i=600;}
00049         servo.pulsewidth_us(i);       
00050     } 
00051 }