Giancarlo R.
/
RoboArm
Robo class for controlling Lynxmotion AL5A Arm
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?
User | Revision | Line number | New 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 | } |