stilldk
Dependencies: vl53l0x_api SRF05
Diff: Simplifier/Shape.cpp
- Revision:
- 0:041c1089b6e5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Simplifier/Shape.cpp Thu Mar 10 08:40:14 2022 +0000 @@ -0,0 +1,38 @@ +#define Pin1 PB_0 +#define Pin2 PB_0 +#define Pin_GPIO PB_0 +//DigitalOut myled(LED1); +#include "mbed.h" +#include "Shape.h" + +PwmOut Drive_pin_A2(PA_8); //steering servo PWM output pin D7 +PwmOut Drive_pin_B2(PA_9); //Not Used +PwmOut Drive_pin_C2(PB_10); //Motor drive PWM output pin D6 +PwmOut Drive_pin_D2(PB_4); //Motor drive PWM output pin D5 + +int Turn_right3=2; +int Turn_left3=0; +int Speed13=10; //Half power +int Speed23=20; //Full power +int PW_Period3=20; + + void Shape::oval(){ + Turn_left3 = 1775; // half turn left - end point + Turn_left3 = 1770; + wait_us(1); + Drive_pin_A2.pulsewidth_us(Turn_left3); + Turn_left3 = 1775; + wait_us(1); + Turn_left3 = 1625; + Drive_pin_A2.pulsewidth_us(Turn_left3); + Turn_left3 = 1770; + wait_us(1); + Drive_pin_A2.pulsewidth_us(Turn_left3); + Turn_left3 = 1775; + wait_us(1); + Turn_left3 = 1625; + Drive_pin_A2.pulsewidth_us(Turn_left3); + Turn_left3 = 1770; + wait_us(1); + Drive_pin_A2.pulsewidth_us(Turn_left3); +} \ No newline at end of file