Diff: main.cpp

Revision:

0:e9452b5dc9d2

Child:

1:678d09a36fcb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Oct 13 21:52:16 2011 +0000
@@ -0,0 +1,39 @@
+//Test program using robo class function
+//Created 10/12/2011 by MLD 427
+
+#include "mbed.h"
+#include "Servo.h"
+#include "robo.h"
+
+robo arm(p21, p22, p23, p24, p25);
+
+int main() {
+//servo.period_ms(20);
+// This code tests each servo by commanding it to move within a certain range
+float i;
+        for (i=0;i<100;i++){
+            arm.writeSpin(i);
+            arm.writeBase(50); 
+            wait(.05);
+             }
+        for (i=0;i<100;i++){
+            arm.writeBase(i);
+            arm.writeElbow(50);//GV
+            wait(.05);
+             }     
+        for (i=0;i<100;i++){
+            arm.writeElbow(i);
+            wait(.05);
+             }
+        for (i=0;i<60;i++){
+            arm.writeWrist(i);
+            wait(.05);
+             }
+             arm.writeClaw(0);
+             wait(.05);                                 
+        for (i=0;i<100;i++){
+           arm.writeClaw(i);
+            wait(.05);
+             } 
+
+}