main.cpp

00001 #include "mbed.h"
00002 #include "UniServ.h"
00003 #include "Servo.h"
00004 #include "Stepper.h"
00005 
00006 // test code for servo and stepper motors
00007 
00008 Servo  S0(PB_2);
00009 Servo  S1(PC_8);
00010 Servo  S2(PC_6);
00011 Servo  S3(PB_12);
00012 
00013 int main()
00014 {
00015 
00016     // initialise and test Servo
00017     S0.Enable(1000,20000);
00018     S1.Enable(1000,20000);
00019     S2.Enable(1000,20000);
00020     S3.Enable(1000,20000);
00021 
00022     printf("initialization succesfull\r\n");
00023     /*
00024     for (int pos = 775; pos < 2150; pos += 25) {
00025         S2.SetPosition(pos);
00026         printf("pos = %d\r\n",pos);
00027         wait(0.1);
00028     }*/
00029     
00030     int i = 500;
00031     
00032     while(1) {
00033         /*
00034         S2.SetPosition(1500);
00035         pwm_motor3.write(0.1f);
00036         wait(1);
00037         S2.SetPosition(900);
00038         pwm_motor3.write(0.0f);
00039         wait(1);
00040         */
00041         printf("position %d\r\n",i);
00042         S2.SetPosition(i);
00043         i=i+50;
00044         
00045         wait(1.0f);
00046         
00047     }
00048 }