Austin Hague / Mbed 2 deprecated PixhawkLinearServoCode

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Dependencies:   Servo mbed

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Show/hide line numbers main.cpp Source File

main.cpp

00001 #include "mbed.h"
00002 #include "Servo.h"
00003 #include "Timer.h"
00004 
00005 DigitalIn pixhawk(LED1);
00006 Servo gas(p21);
00007 Servo brake(p22);
00008 Timer timer;
00009 float delta;
00010 
00011 int main()
00012 {
00013     while(1) {
00014         // read pulseIn
00015         while (!pixhawk); // wait for high 1 or -1
00016         timer.reset();
00017         timer.start();
00018         while (pixhawk); // wait for low
00019         timer.stop();
00020         delta = timer.read_us(); //provides pwm on time in microseconds
00021 
00022         if(delta > 0) {
00023             gas = delta*1000; // convert to PWM signal for gas
00024         } else if(delta <= 0 && delta > 0.33) {
00025             brake = -.4; // light braking
00026         } else {
00027             brake = -1; // full brake
00028         }
00029     }
00030 }
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