Hiroshi SAKAMOTO
test servo
main.cpp@0:6d8bbd43c8e8, 2014-01-14 (annotated)
- Committer:
- hayashiisme
- Date:
- Tue Jan 14 08:31:05 2014 +0000
- Revision:
- 0:6d8bbd43c8e8
test servo
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| hayashiisme | 0:6d8bbd43c8e8 | 1 | #include "mbed.h" |
| hayashiisme | 0:6d8bbd43c8e8 | 2 | |
| hayashiisme | 0:6d8bbd43c8e8 | 3 | PwmOut servo1(p21); |
| hayashiisme | 0:6d8bbd43c8e8 | 4 | PwmOut servo2(p22); |
| hayashiisme | 0:6d8bbd43c8e8 | 5 | |
| hayashiisme | 0:6d8bbd43c8e8 | 6 | #define waitsec 0.04 |
| hayashiisme | 0:6d8bbd43c8e8 | 7 | #define start 900 |
| hayashiisme | 0:6d8bbd43c8e8 | 8 | #define end 190 |
| hayashiisme | 0:6d8bbd43c8e8 | 9 | |
| hayashiisme | 0:6d8bbd43c8e8 | 10 | int main(){ |
| hayashiisme | 0:6d8bbd43c8e8 | 11 | servo1.period_ms(20); // servo requires a 20ms period |
| hayashiisme | 0:6d8bbd43c8e8 | 12 | servo2.period_ms(20); // servo requires a 20ms period |
| hayashiisme | 0:6d8bbd43c8e8 | 13 | for(int i=0; i < 5; i++){ |
| hayashiisme | 0:6d8bbd43c8e8 | 14 | for(int i = start; i < end; i += 10) { |
| hayashiisme | 0:6d8bbd43c8e8 | 15 | servo1.pulsewidth_us(i); // servo position determined by a pulsewidth between 1-2ms |
| hayashiisme | 0:6d8bbd43c8e8 | 16 | servo2.pulsewidth_us(i); // servo position determined by a pulsewidth between 1-2ms |
| hayashiisme | 0:6d8bbd43c8e8 | 17 | wait(waitsec); |
| hayashiisme | 0:6d8bbd43c8e8 | 18 | } |
| hayashiisme | 0:6d8bbd43c8e8 | 19 | for(int i = end; i > start; i -= 10) { |
| hayashiisme | 0:6d8bbd43c8e8 | 20 | servo1.pulsewidth_us(i); // servo position determined by a pulsewidth between 1-2ms |
| hayashiisme | 0:6d8bbd43c8e8 | 21 | servo2.pulsewidth_us(i); // servo position determined by a pulsewidth between 1-2ms |
| hayashiisme | 0:6d8bbd43c8e8 | 22 | wait(waitsec); |
| hayashiisme | 0:6d8bbd43c8e8 | 23 | } |
| hayashiisme | 0:6d8bbd43c8e8 | 24 | } |
| hayashiisme | 0:6d8bbd43c8e8 | 25 | } |