Diff: main.cpp

Revision:

0:82a391c84dbb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Apr 11 04:53:08 2018 +0000
@@ -0,0 +1,93 @@
+#include "mbed.h"
+ 
+//****************************************************************************** Define
+//The number will be compiled as type "double" in default
+//Add a "f" after the number can make it compiled as type "float"
+#define Ts 0.01f    //period of timer1 (s)
+#define Servo_Period 20
+
+
+
+//****************************************************************************** End of Define
+ 
+//****************************************************************************** I/O
+//PWM
+PwmOut servo(A0);
+//Timer Setting
+Ticker timer;
+//****************************************************************************** End of I/O
+ 
+//****************************************************************************** Functions
+void init_timer(void);
+void init_PWM(void);
+void timer_interrupt(void);
+//****************************************************************************** End of Functions
+ 
+//****************************************************************************** Variables
+// Servo
+float zero_degree_duty = 0.062; // 0.025~0.115(-90~+90)(not linear, so the experiment is needed)
+float  pos_90degree_duty = 0.1067;    //0.1067 =true   //0.113
+float  neg_90degree_duty = 0.026;     //0.025
+
+
+
+//****************************************************************************** End of Variables
+ 
+//****************************************************************************** Main
+int main()
+{
+    init_timer();
+    init_PWM();
+    
+    while(1)
+    {
+    }
+}
+//****************************************************************************** End of Main
+ 
+//****************************************************************************** timer_interrupt
+void timer_interrupt()
+{
+    
+    
+    static int counter =0;
+    static float servo_counter =zero_degree_duty;
+    
+    counter ++;
+    
+    if(counter >= 600)
+    {       
+      return ;
+            
+   }
+    else
+    {
+       if(counter %2 ==0)
+       {                  
+          servo_counter += ((pos_90degree_duty -zero_degree_duty)/300);
+         //6sec 轉90度   
+           servo.write(servo_counter);        
+       }
+        
+     }
+    
+   
+    
+    // Code for servo motor    
+}
+//****************************************************************************** End of timer_interrupt
+ 
+//****************************************************************************** init_timer
+void init_timer()
+{
+     timer.attach_us(&timer_interrupt, 10000);//10ms interrupt period (100 Hz)
+}
+//****************************************************************************** End of init_timer
+ 
+//****************************************************************************** init_PWM
+void init_PWM()
+{
+    servo.period_ms(Servo_Period);
+    servo.write(zero_degree_duty);
+}
+//****************************************************************************** End of init_PWM