main.cpp

00001 //Test program using robo class function
00002 //Created 10/12/2011 by MLD 427
00003 
00004 #include "mbed.h"
00005 #include "Servo.h"
00006 #include "robo.h"
00007 
00008 robo arm(p21, p22, p23, p24, p25);
00009 
00010 int main() {
00011 //servo.period_ms(20);
00012 // This code tests each servo by commanding it to move within a certain range
00013 float i;
00014         for (i=0;i<100;i++){
00015             arm.writeSpin(i);
00016             wait(.05);
00017              }
00018         for (i=0;i<100;i++){
00019             arm.writeBase(i);
00020             wait(.05);
00021              }     
00022         for (i=0;i<100;i++){
00023             arm.writeElbow(i);
00024             wait(.05);
00025              }
00026         for (i=0;i<60;i++){
00027             arm.writeWrist(i);
00028             wait(.05);
00029              }
00030              arm.writeClaw(0);
00031              wait(.05);                                 
00032         for (i=0;i<100;i++){
00033            arm.writeClaw(i);
00034             wait(.05);
00035              } 
00036 
00037 }