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Dependents: 3servotest 1stcomp 3rdcompfixstart 2ndcomp ... more
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Revision 1:c8ecfd809e22, committed 2016-09-07
- Comitter:
- choutin
- Date:
- Wed Sep 07 09:40:58 2016 +0000
- Parent:
- 0:655e1fcb96be
- Child:
- 2:442fae3b1c0e
- Child:
- 3:c112df463a8d
- Commit message:
- a
Changed in this revision
servo.cpp | Show annotated file Show diff for this revision Revisions of this file |
servo.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/servo.cpp Wed Sep 07 07:35:46 2016 +0000 +++ b/servo.cpp Wed Sep 07 09:40:58 2016 +0000 @@ -2,9 +2,43 @@ PwmOut pwmarm(PC_6); PwmOut pwmhand(PC_8); - +PwmOut pwmbelt(PC_9); float PERIOD=20000; +void armdegree(int degree) { + int i; + + pwmarm.period_ms(20); //20ms + + degree=10; + + i=500+degree*1900/180; + pwmarm.write(i/PERIOD); +} + +void handdegree(int degree) { + int i; + + pwmarm.period_ms(20); //20ms + + degree=10; + + i=500+degree*1900/180; + pwmhand.write(i/PERIOD); + +} + +void beltdegree(int degree) { + int i; + + pwmarm.period_ms(20); //20ms + + degree=10; + + i=500+degree*1900/180; + pwmbelt.write(i/PERIOD); + +} void close_hand(void) { int i,degree;
--- a/servo.h Wed Sep 07 07:35:46 2016 +0000 +++ b/servo.h Wed Sep 07 09:40:58 2016 +0000 @@ -6,4 +6,10 @@ void open_hand(void); -void open_arm(void); \ No newline at end of file +void open_arm(void); + +void armdegree(int degree); + +void handdegree(int degree); + +void beltdegree(int degree); \ No newline at end of file