Shows the current positions of the 4 servos on the display...
Dependencies: PR_RobotArmController mbed
main.cpp@0:c1930e7050d1, 2017-03-03 (annotated)
- Committer:
- jah128
- Date:
- Fri Mar 03 13:38:24 2017 +0000
- Revision:
- 0:c1930e7050d1
Initial commit;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jah128 | 0:c1930e7050d1 | 1 | #include "robotarm.h" |
jah128 | 0:c1930e7050d1 | 2 | |
jah128 | 0:c1930e7050d1 | 3 | Robotarm arm; |
jah128 | 0:c1930e7050d1 | 4 | |
jah128 | 0:c1930e7050d1 | 5 | int main() |
jah128 | 0:c1930e7050d1 | 6 | { |
jah128 | 0:c1930e7050d1 | 7 | //Run the main initialisation routine |
jah128 | 0:c1930e7050d1 | 8 | arm.init(); |
jah128 | 0:c1930e7050d1 | 9 | display.clear_display(); |
jah128 | 0:c1930e7050d1 | 10 | while(1) { |
jah128 | 0:c1930e7050d1 | 11 | int base = servo.GetPosition(BASE); |
jah128 | 0:c1930e7050d1 | 12 | int shoulder = servo.GetPosition(SHOULDER); |
jah128 | 0:c1930e7050d1 | 13 | int elbow = servo.GetPosition(ELBOW); |
jah128 | 0:c1930e7050d1 | 14 | int wrist = servo.GetPosition(WRIST); |
jah128 | 0:c1930e7050d1 | 15 | char s1[17]; |
jah128 | 0:c1930e7050d1 | 16 | char s2[17]; |
jah128 | 0:c1930e7050d1 | 17 | sprintf(s1,"B:%4d S:%4d",base,shoulder); |
jah128 | 0:c1930e7050d1 | 18 | sprintf(s2,"E:%4d W:%4d",elbow,wrist); |
jah128 | 0:c1930e7050d1 | 19 | display.set_position(0,0); |
jah128 | 0:c1930e7050d1 | 20 | display.write_string(s1); |
jah128 | 0:c1930e7050d1 | 21 | display.set_position(1,0); |
jah128 | 0:c1930e7050d1 | 22 | display.write_string(s2); |
jah128 | 0:c1930e7050d1 | 23 | wait(0.2); |
jah128 | 0:c1930e7050d1 | 24 | } |
jah128 | 0:c1930e7050d1 | 25 | } |