Diff: main.cpp

Revision:

0:1b75c7a92a5e

Child:

1:50fc6689148e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri May 06 18:48:56 2016 +0000
@@ -0,0 +1,58 @@
+#include "mbed.h"
+#include "HBridgeDCMotor.h"
+
+DigitalIn fault(PTE20);
+
+HBridgeDCMotor motor_a(PTC3, PTC4);
+HBridgeDCMotor motor_b(PTC1, PTC2);
+
+PwmOut servo(PTB0);
+DigitalOut enable(PTE21);
+Timer timer;
+
+int main() {
+    
+    float sampleTime = 50e-3, switchingFrequency = 5000, rampTime = 3;    
+    timer.start();
+    motor_a.configure(sampleTime, switchingFrequency, rampTime, rampTime);
+    motor_b.configure(sampleTime, switchingFrequency, rampTime, rampTime);
+    servo.period(0.020);
+    float pw=0,pw2=0;
+    servo.pulsewidth(0.00100);
+    wait(10);
+    while(1){
+
+
+
+        
+ /**       if( timer.read()> 3 && timer.read()< 9 ){ **/
+             motor_a.setDutyCycle(0.01);
+             motor_b.setDutyCycle(0.01);       
+      /**      }
+        else if( timer.read()> 9 && timer.read()< 15){
+            motor_a.setDutyCycle(-0.01);
+            motor_b.setDutyCycle(-0.01);         
+            }
+        else if (timer.read()>5 && timer.read()<12){
+**/ 
+            for(pw=pw2; pw<0.00025; pw+=0.00001) {
+                servo.pulsewidth(0.001+ pw);
+                wait(0.1);
+                }
+                wait(3);
+            for(pw2=pw; pw2>-0.00025; pw2-=0.00001) {
+            servo.pulsewidth(0.001 + pw2);
+            wait(0.1);
+                }
+                 wait(3);          
+ /**           }
+        else {
+            motor_a.setDutyCycle(0);
+            motor_b.setDutyCycle(0); 
+       //     enable=0;
+            } **/
+        }
+
+
+
+}