Diff: main.cpp

Revision:

0:e31980f4132f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Mar 23 22:25:11 2018 +0000
@@ -0,0 +1,80 @@
+// Servo control class, based on a PwmOut
+ 
+ 
+  // Continuously sweep the servo through it's full range
+  #include "mbed.h"
+  #include "Servo.h"
+
+  
+  
+ Serial pc(USBTX,USBRX);     // Create a serial connection to pc through the mbed USB cable
+ Servo LRmyservo(PTC5);
+ InterruptIn motion(D2);
+ DigitalIn sw2(SW2);
+
+ int motion_detected = 0;
+
+ void irq_handler(void)
+ {
+     //motion_detected = 1;
+ }
+ 
+ void rotateServo(bool rotate){
+    int i = 0;
+    if (rotate == true){ //rotate right
+        for(i=10; i<111; i++){
+            LRmyservo = i/100.00;
+            //pc.printf("read = %f\r\n", LRmyservo);
+            wait_ms(4);
+            if(motion_detected){
+                break;
+            }
+        }
+    } else{ 
+        for(i=110; i>=10; i--){ //rotate left
+            LRmyservo = i/100.00;
+            //pc.printf("read = %d, signal = %d\r\n", LRmyservo.read(),something);
+            wait_ms(4);
+            if(motion_detected){
+                break;
+            }
+        }
+    }
+ }
+
+   //Servo UDmyservo(PTC7);
+ 
+    int main() 
+    {
+        //float range = .0009;
+       //LRmyservo.calibrate(range,45);
+        //dt.start();  
+        
+        //Initialize variables
+        bool flag = false;
+        bool rotate = true;
+       // motion.fall(&irq_handler);
+        
+        //Initilize motor positions
+
+            while(flag == false){
+                    //check to make sure the motion sensor was not triggered
+               //     if(motion_detected){
+                 //       motion_detected = 0;
+                   //     pc.printf("I have fallen and I can't get up!\r\n");
+                     //   flag = true;
+                   // }
+                   if (sw2 == 0){
+                       rotateServo(rotate);
+                    if (rotate == true){ //adjust rotation direction for next iteration
+                        rotate = false;
+                    } else{
+                        rotate = true;
+                    }
+                   }
+                }
+                pc.printf("I am finished with the program");
+             //wait_ms(5);
+            }
+     
+     
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