Giancarlo R. / Mbed 2 deprecated RoboArm

Robo class for controlling Lynxmotion AL5A Arm

Dependencies:   mbed

main.cpp@1:678d09a36fcb, 2011-10-13 (annotated)

Committer:
gvalentin3
Date:
Thu Oct 13 22:11:11 2011 +0000
Revision:
1:678d09a36fcb
Parent:
0:e9452b5dc9d2 
Version #2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gvalentin3 0:e9452b5dc9d2 1 //Test program using robo class function
gvalentin3 0:e9452b5dc9d2 2 //Created 10/12/2011 by MLD 427
gvalentin3 0:e9452b5dc9d2 3
gvalentin3 0:e9452b5dc9d2 4 #include "mbed.h"
gvalentin3 0:e9452b5dc9d2 5 #include "Servo.h"
gvalentin3 0:e9452b5dc9d2 6 #include "robo.h"
gvalentin3 0:e9452b5dc9d2 7
gvalentin3 0:e9452b5dc9d2 8 robo arm(p21, p22, p23, p24, p25);
gvalentin3 0:e9452b5dc9d2 9
gvalentin3 0:e9452b5dc9d2 10 int main() {
gvalentin3 0:e9452b5dc9d2 11 //servo.period_ms(20);
gvalentin3 0:e9452b5dc9d2 12 // This code tests each servo by commanding it to move within a certain range
gvalentin3 0:e9452b5dc9d2 13 float i;
gvalentin3 0:e9452b5dc9d2 14 for (i=0;i<100;i++){
gvalentin3 0:e9452b5dc9d2 15 arm.writeSpin(i);
gvalentin3 0:e9452b5dc9d2 16 wait(.05);
gvalentin3 0:e9452b5dc9d2 17 }
gvalentin3 0:e9452b5dc9d2 18 for (i=0;i<100;i++){
gvalentin3 0:e9452b5dc9d2 19 arm.writeBase(i);
gvalentin3 0:e9452b5dc9d2 20 wait(.05);
gvalentin3 0:e9452b5dc9d2 21 }
gvalentin3 0:e9452b5dc9d2 22 for (i=0;i<100;i++){
gvalentin3 0:e9452b5dc9d2 23 arm.writeElbow(i);
gvalentin3 0:e9452b5dc9d2 24 wait(.05);
gvalentin3 0:e9452b5dc9d2 25 }
gvalentin3 0:e9452b5dc9d2 26 for (i=0;i<60;i++){
gvalentin3 0:e9452b5dc9d2 27 arm.writeWrist(i);
gvalentin3 0:e9452b5dc9d2 28 wait(.05);
gvalentin3 0:e9452b5dc9d2 29 }
gvalentin3 0:e9452b5dc9d2 30 arm.writeClaw(0);
gvalentin3 0:e9452b5dc9d2 31 wait(.05);
gvalentin3 0:e9452b5dc9d2 32 for (i=0;i<100;i++){
gvalentin3 0:e9452b5dc9d2 33 arm.writeClaw(i);
gvalentin3 0:e9452b5dc9d2 34 wait(.05);
gvalentin3 0:e9452b5dc9d2 35 }
gvalentin3 0:e9452b5dc9d2 36
gvalentin3 0:e9452b5dc9d2 37 }