Enrico Marinoni / Mbed 2 deprecated MG996R_Drive

BY: www.emcu.eu Date: 08-12-2017 Ver. 1.0 Example for Servo Motor: MG996R This example was tested on NUCLEO-F401RE If you use a terminal emulator (9600,8,1) on your PC you also see the commands sends do RC motor.

Dependencies:   mbed

main.cpp@0:b0c47a96f7cd, 2017-12-08 (annotated)

Committer:
emcu
Date:
Fri Dec 08 11:15:39 2017 +0000
Revision:
0:b0c47a96f7cd
BY: www.emcu.eu;  Date: 08-12-2017;  Ver. 1.0;  Example for Servo Motor: MG996R ;  This example was tested on NUCLEO-F401RE;  If you use a terminal emulator (9600,8,1) on your PC ;     you also see the commands sends do RC motor.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
emcu 0:b0c47a96f7cd 1 /*
emcu 0:b0c47a96f7cd 2
emcu 0:b0c47a96f7cd 3 BY: www.emcu.eu
emcu 0:b0c47a96f7cd 4 Date: 08-12-2017
emcu 0:b0c47a96f7cd 5 Ver. 1.0
emcu 0:b0c47a96f7cd 6 Example for Servo Motor: MG996R
emcu 0:b0c47a96f7cd 7 This example was tested on NUCLEO-F401RE
emcu 0:b0c47a96f7cd 8 If you use a terminal emulator (9600,8,1) on your PC
emcu 0:b0c47a96f7cd 9 you also see the commands sends do RC motor.
emcu 0:b0c47a96f7cd 10
emcu 0:b0c47a96f7cd 11 ---------------------------------------------------------------------------
emcu 0:b0c47a96f7cd 12
emcu 0:b0c47a96f7cd 13 Servo Motor:
emcu 0:b0c47a96f7cd 14 MG996R - http://www.electronicoscaldas.com/datasheet/MG996R_Tower-Pro.pdf
emcu 0:b0c47a96f7cd 15
emcu 0:b0c47a96f7cd 16 RED - + Vcc from 4,5 to 7,2V
emcu 0:b0c47a96f7cd 17 BLACK - GND
emcu 0:b0c47a96f7cd 18 ORANGE - PWM
emcu 0:b0c47a96f7cd 19
emcu 0:b0c47a96f7cd 20 Duty - example: 1.9 (mS)
emcu 0:b0c47a96f7cd 21 \ /
emcu 0:b0c47a96f7cd 22 \/
emcu 0:b0c47a96f7cd 23 __
emcu 0:b0c47a96f7cd 24 __| |_____________
emcu 0:b0c47a96f7cd 25 ... 20mS......
emcu 0:b0c47a96f7cd 26
emcu 0:b0c47a96f7cd 27 For rotate to right use value 1 for Duty
emcu 0:b0c47a96f7cd 28 For rotate to left use value 5 for Duty
emcu 0:b0c47a96f7cd 29
emcu 0:b0c47a96f7cd 30 Vedere queste spiegazioni:
emcu 0:b0c47a96f7cd 31 http://www.adrirobot.it/servotester/il_servomotore.htm
emcu 0:b0c47a96f7cd 32
emcu 0:b0c47a96f7cd 33
emcu 0:b0c47a96f7cd 34
emcu 0:b0c47a96f7cd 35 NOTE:
emcu 0:b0c47a96f7cd 36
emcu 0:b0c47a96f7cd 37 For rotate to Right (DESTRA) use this command:
emcu 0:b0c47a96f7cd 38 Move(Right);
emcu 0:b0c47a96f7cd 39 For rotate to Left (SINISTRA) use this command:
emcu 0:b0c47a96f7cd 40 Move(Left);
emcu 0:b0c47a96f7cd 41
emcu 0:b0c47a96f7cd 42 You also has the possibility to send a command like below:
emcu 0:b0c47a96f7cd 43 Move(1.5):
emcu 0:b0c47a96f7cd 44
emcu 0:b0c47a96f7cd 45 */
emcu 0:b0c47a96f7cd 46
emcu 0:b0c47a96f7cd 47 #include "mbed.h"
emcu 0:b0c47a96f7cd 48
emcu 0:b0c47a96f7cd 49 DigitalOut Drive(PA_10);
emcu 0:b0c47a96f7cd 50
emcu 0:b0c47a96f7cd 51 #define PWMoff 20 // Waiting for end PWD
emcu 0:b0c47a96f7cd 52 #define Right 1 // Move to Right -> DESTRA or DX
emcu 0:b0c47a96f7cd 53 #define Left 5 // Move to LEFT <- SINISTRA or SX
emcu 0:b0c47a96f7cd 54 #define DLY 1
emcu 0:b0c47a96f7cd 55
emcu 0:b0c47a96f7cd 56 void Move(double);
emcu 0:b0c47a96f7cd 57
emcu 0:b0c47a96f7cd 58 double p=0;
emcu 0:b0c47a96f7cd 59
emcu 0:b0c47a96f7cd 60
emcu 0:b0c47a96f7cd 61 int main()
emcu 0:b0c47a96f7cd 62 {
emcu 0:b0c47a96f7cd 63 int n=0;
emcu 0:b0c47a96f7cd 64
emcu 0:b0c47a96f7cd 65 printf("By: www.emcu.eu - Ver.1.0 \n\r");
emcu 0:b0c47a96f7cd 66
emcu 0:b0c47a96f7cd 67 printf("Rotate all to -> \n\r");
emcu 0:b0c47a96f7cd 68 // Sposta tutto a DX
emcu 0:b0c47a96f7cd 69 for(n=0; n<20; n++)
emcu 0:b0c47a96f7cd 70 Move(Right);
emcu 0:b0c47a96f7cd 71
emcu 0:b0c47a96f7cd 72 wait(DLY);
emcu 0:b0c47a96f7cd 73
emcu 0:b0c47a96f7cd 74 printf("Rotate all to <- \n\r");
emcu 0:b0c47a96f7cd 75 // Sposta tutto a SX
emcu 0:b0c47a96f7cd 76 for(n=0; n<20; n++)
emcu 0:b0c47a96f7cd 77 Move(Left);
emcu 0:b0c47a96f7cd 78
emcu 0:b0c47a96f7cd 79 wait(DLY);
emcu 0:b0c47a96f7cd 80
emcu 0:b0c47a96f7cd 81 printf("Move to 10 times to ->\n\r");
emcu 0:b0c47a96f7cd 82 for(n=0; n<10; n++)
emcu 0:b0c47a96f7cd 83 Move(Right);
emcu 0:b0c47a96f7cd 84
emcu 0:b0c47a96f7cd 85 wait(DLY);
emcu 0:b0c47a96f7cd 86
emcu 0:b0c47a96f7cd 87 printf("END \n\r\n\r");
emcu 0:b0c47a96f7cd 88 }
emcu 0:b0c47a96f7cd 89
emcu 0:b0c47a96f7cd 90
emcu 0:b0c47a96f7cd 91 void Move(double ON)
emcu 0:b0c47a96f7cd 92 {
emcu 0:b0c47a96f7cd 93
emcu 0:b0c47a96f7cd 94 Drive=1;
emcu 0:b0c47a96f7cd 95 wait_ms(ON);
emcu 0:b0c47a96f7cd 96 Drive=0;
emcu 0:b0c47a96f7cd 97 wait_ms(20);
emcu 0:b0c47a96f7cd 98
emcu 0:b0c47a96f7cd 99 }
emcu 0:b0c47a96f7cd 100
emcu 0:b0c47a96f7cd 101
emcu 0:b0c47a96f7cd 102
emcu 0:b0c47a96f7cd 103 /*
emcu 0:b0c47a96f7cd 104
emcu 0:b0c47a96f7cd 105 // Sposta tutto a DX - Move all to RIGHT
emcu 0:b0c47a96f7cd 106 for(n=0; n<200; n++)
emcu 0:b0c47a96f7cd 107 Move(Right);
emcu 0:b0c47a96f7cd 108
emcu 0:b0c47a96f7cd 109 wait(DLY);
emcu 0:b0c47a96f7cd 110
emcu 0:b0c47a96f7cd 111 // Sposta tutto a SX - Move all to LEFT
emcu 0:b0c47a96f7cd 112 for(n=0; n<200; n++)
emcu 0:b0c47a96f7cd 113 Move(Left);
emcu 0:b0c47a96f7cd 114
emcu 0:b0c47a96f7cd 115 wait(DLY);
emcu 0:b0c47a96f7cd 116
emcu 0:b0c47a96f7cd 117 */
emcu 0:b0c47a96f7cd 118
emcu 0:b0c47a96f7cd 119 /*
emcu 0:b0c47a96f7cd 120 p=0.4;
emcu 0:b0c47a96f7cd 121 myservo = p;
emcu 0:b0c47a96f7cd 122 printf("P = %.2f \n\r", p);
emcu 0:b0c47a96f7cd 123 wait(0.2);
emcu 0:b0c47a96f7cd 124 */