Lab 3

Dependencies:   Motor Servo mbed

main.cpp

Committer:
m182376
Date:
2015-10-12
Revision:
0:cb674e873f8e

File content as of revision 0:cb674e873f8e:

#include "mbed.h"
#include "Motor.h"
#include "Servo.h"



Motor m(p25,p27,p28);
Servo mservo(p24);
Servo mservo1(p23);

float i = 0.0;
float j = 0.0;

int main()
{

    mservo.calibrate(.0009,90);
    mservo1.calibrate(.0009,90);

    m.speed(i);
    while(1) {

        if (i!=1) {

            for(i=0.2; i<=1.0; i=i+.1 ) {

                m.speed(i);

                for( j=0.0; j<=1.0; j=j+0.001 ) {

                    mservo = j ;
                    mservo1 = (1-j);
                    wait(.005);

                }

                m.speed(-i);

                for( j=1.0 ; j>=0.0; j=j-0.001 ) {

                    mservo = j ;
                    mservo1 = (1-j);
                    wait(.005);

                }

            }

        }

        else if (i>=1) {

            m.speed(i);

            for( j=0.0; j<=1.0; j=j+0.001 ) {

                mservo = j ;
                mservo1 = (1-j);
                wait(.005);

            }

            m.speed(-i);

            for( j=1.0 ; j>=0.0; j=j-0.001 ) {

                mservo = j ;
                mservo1 = (1-j);
                wait(.005);

            }

        }

    }

}