Diff: usb-servo.cpp

Revision:

0:61aafea4a4fe

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/usb-servo.cpp	Sun Nov 13 12:22:13 2016 +0000
@@ -0,0 +1,82 @@
+#include "mbed.h"
+#include "Servo.h"
+#include "usb-servo.h" 
+
+
+static const char CLS[] = "\x1B[2J";        // VT100 erase screen
+static const char HOME[] = "\x1B[H";        // VT100 home
+
+static const float INITIAL_RANGE = 0.0005;
+static const float INITIAL_POSITION = 0.5;
+
+static const float CLOCK = 0.0;
+static const float CCLOCK = 1.0;
+static const float RANGE_MODIFIER = 0.0001;
+
+struct Movement
+{   
+    private:    
+        float calibration;
+        
+    public:
+        float range;
+        float position;
+     
+        Movement(float r, float p) : range(r), position(p)
+        {
+            calibration = 45.0;
+        };
+        
+        float getCalibration() const
+        {
+            return calibration;
+        }
+};
+ 
+int main() {
+    clear_screen();
+    show_menu();
+    Movement movement(INITIAL_RANGE, INITIAL_POSITION);
+    
+    while (true) 
+    {                  
+        switch(pc.getc()) 
+        {
+            case '1': 
+                movement.position = CLOCK;
+                break;
+            case '2': 
+                movement.position = CCLOCK;
+                break;
+            case '3': 
+                movement.range += RANGE_MODIFIER;
+                break; 
+            case '4': 
+                movement.range -= RANGE_MODIFIER;
+                break;
+        }
+        pc.printf("position = %.1f, range = +/-%0.4f\n\r", movement.position, movement.range);
+        update(myservo, movement);
+    }
+}
+
+void clear_screen()
+{
+    pc.printf(CLS);      
+    pc.printf(HOME);               
+}
+
+void show_menu()
+{
+    pc.printf("\rServo controls:\n\r");
+    pc.printf("1. Full speed clockwise\n\r");
+    pc.printf("2. Full speed counter-clockwise\n\r");
+    pc.printf("3. Increase speed\n\r");
+    pc.printf("4. Decrease speed\n\r");
+}
+
+void update(const Servo& servo, const Movement& move)
+{
+    myservo.calibrate(move.range, move.getCalibration()); 
+    myservo = move.position;    
+}
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