Diff: main.cpp

Revision:

0:305237ecbbe5

Child:

1:9fd2d2f5184e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Jul 22 13:23:02 2015 +0000
@@ -0,0 +1,48 @@
+/*PCA9685 library example code
+ *test library performed with two servomotor, attached in channel 0 and 1,  that rotate to the right and to the left
+ */ 
+#include"PCA9685.h"
+#include"mbed.h"
+
+
+
+PCA9685 pwm(D14,D15);
+ 
+void setServoPulse(uint8_t n, float pulse) {
+    float pulselength = 10000;   // 10,000 units per seconds
+    pulse = 4094 * pulse / pulselength;
+    pwm.setPWM(n, 0, pulse);
+}
+ 
+void initServoDriver() {
+    pwm.begin();
+    pwm.setPrescale(64);    //This value is decided for 10ms interval.
+    pwm.frequencyI2C(400000); //400kHz
+}
+ 
+int main() {
+
+    while(1){
+    initServoDriver();
+    wait(0.2);
+    setServoPulse(0, 2300);
+    setServoPulse(1, 500);    
+    wait(0.5);//delay necessary to perform the action
+    setServoPulse(0, 1350);
+    setServoPulse(1, 1350);
+    wait(0.5);
+    setServoPulse(0,550);
+    setServoPulse(1, 2250);
+    wait(0.5);
+    setServoPulse(0, 2300);
+    wait(2);
+    for (int mov = 550; mov < 2300; mov++){
+    setServoPulse(0, mov);
+    wait(0.001); 
+    }  
+    for (int mov = 500; mov < 2200; mov++){
+    setServoPulse(1, mov);
+    wait(0.001); 
+    }     
+    }
+}
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