Revision 1:b9119bdd3ca9, committed 2017-07-04

Comitter:

eencae

Date:

Tue Jul 04 17:37:15 2017 +0000

Parent:

0:68133f5cdfa0

Commit message:

Initial commit

Changed in this revision

--- a/main.cpp	Tue Jul 04 15:52:22 2017 +0000
+++ b/main.cpp	Tue Jul 04 17:37:15 2017 +0000
@@ -1,4 +1,4 @@
-/* MeArm Servo Calibration
+/* MeArm Lab 1 Task 1
 
 (c) Dr Craig A. Evans, University of Leeds
 
@@ -12,13 +12,11 @@
 AnalogIn m_pot(p17);
 AnalogIn l_pot(p18);
 AnalogIn r_pot(p19);
-AnalogIn c_pot(p20);
 
 // PWM pins for servos
 PwmOut m_servo(p21);
 PwmOut l_servo(p22);
 PwmOut r_servo(p23);
-PwmOut c_servo(p24);
 
 int main()
 {
@@ -29,27 +27,17 @@
     // keep looping forever
     while(1) {
 
-        // read val in range 0.0 to 1.0
+        // read val in range 0.0 to 1.0,
         float m_pot_val = m_pot.read();
-        // create a pulse-width value in range 400 to 3000us
-        int m_pot_pulse_us = int(400.0 + m_pot_val*2600.0);  
-        m_servo.pulsewidth_us(m_pot_pulse_us);
-
-        // repeat for other servos
-        float l_pot_val = l_pot.read();
-        int l_pot_pulse_us = int(600.0 + l_pot_val*2600.0);  
-        l_servo.pulsewidth_us(l_pot_pulse_us);
+        //  convert to -90 to +90
+        float m_angle = -90.0+180.0*m_pot_val;
 
-        float r_pot_val = r_pot.read();
-        int r_pot_pulse_us = int(600.0 + r_pot_val*2600.0); 
-        r_servo.pulsewidth_us(r_pot_pulse_us);
+        // plug into linear equation to convert to pulse-width
+        int m_pulse_us = int(1650.0 + 11.0*m_angle);  
+        // move servo
+        m_servo.pulsewidth_us(m_pulse_us);
 
-        float c_pot_val = c_pot.read();
-        int c_pot_pulse_us = int(600.0 + c_pot_val*2600.0); 
-        c_servo.pulsewidth_us(c_pot_pulse_us);
-        
-        // print the values to the PC terminal
-        printf("M=%i L=%i R=%i C=%i\n",m_pot_pulse_us,l_pot_pulse_us,r_pot_pulse_us,c_pot_pulse_us);
+        // ADD in code for left and right servos
 
         // delay as we don't want to update the servos too often
         wait_ms(200);