Revision 0:378e6e4342e9, committed 2017-05-02
- Comitter:
- dvpavan153
- Date:
- Tue May 02 15:35:16 2017 +0000
- Commit message:
- leap based haptic arm
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.lib Tue May 02 15:35:16 2017 +0000
@@ -0,0 +1,1 @@
+https://mbed.org/users/simon/code/Servo/#36b69a7ced07
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue May 02 15:35:16 2017 +0000
@@ -0,0 +1,80 @@
+#include"mbed.h"
+#include "Servo.h"
+
+Servo myservo1(PTD0);
+Servo myservo2(PTD2);
+Servo myservo3(PTD3);
+#include <stdio.h>
+#include <string.h>
+Serial pc(USBTX, USBRX);
+Serial device(PTC15, PTC14);
+float map(float in, float inMin, float inMax, float outMin, float outMax) ;
+int main ()
+{
+ device.baud(9600);
+ char buf[17];
+while(1)
+ {
+ if (device.readable())
+ {
+
+ device.gets(buf,17);
+
+ int i ;
+ char *p = strtok (buf, ":");
+ char *array[3];
+
+
+ while (p != NULL)
+ {
+ array[i++] = p;
+ p = strtok (NULL, ":");
+ }
+
+ float x,y,z;
+ x = atof(array[0]);
+ y = atof(array[1]);
+ z = atof(array[2]);
+
+ printf("x=%4f\n",x);
+ printf("y=%4f\n",y);
+ printf("z=%4f\n",z);
+ float middle = map ( x,165.0,340.0,0.0,180.0);
+ float bottom = map ( y,65.0,-85.0,0.0,180.0);
+ float top= map ( z,0.0,120.0,0.0,180.0);
+
+ printf("%f\n",middle);
+ myservo1 = int(middle);
+ printf("%f\n",bottom);
+ myservo2 = int(bottom);
+ printf("%f\n",top);
+ myservo3 = int(top);
+
+
+
+ }
+ }
+
+}
+ float map(float in, float inMin, float inMax, float outMin, float outMax) {
+ // check it's within the range
+ if (inMin<inMax) {
+ if (in <= inMin)
+ return outMin;
+ if (in >= inMax)
+ return outMax;
+ } else { // cope with input range being backwards.
+ if (in >= inMin)
+ return outMin;
+ if (in <= inMax)
+ return outMax;
+ }
+ // calculate how far into the range we are
+ float scale = (in-inMin)/(inMax-inMin);
+ // calculate the output.
+ return outMin + scale*(outMax-outMin);
+}
+
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld Tue May 02 15:35:16 2017 +0000
@@ -0,0 +1,1 @@
+https://mbed.org/users/mbed_official/code/mbed/builds/97feb9bacc10
\ No newline at end of file