Diff: servo_main.cpp

Revision:

0:34bcf10d435c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/servo_main.cpp	Thu Feb 26 13:41:45 2015 +0000
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+/*************************************************************
+PROGRAM NAME:  SY202 mbed Lab 07 Part C
+
+DESCRIPTION:  The following program operates two RC servo
+              motors moving in windshield wiper-like fashion
+              while simultaneously powering a DC motor in
+              forward and reverse.
+              
+CREATED BY:  MIDN 3/C Jordan DiPaola
+
+Library provided by mbed.org
+
+SOURCES:  SY202 Lecture presentations and mbed cookbook for
+          general code structure
+*************************************************************/
+
+/**********required includes and initial declarations**********/
+
+//required includes with motor declarations
+#include "mbed.h"
+#include "Motor.h"
+
+//Motor declaration
+Motor dcmotor(p23, p24, p25);
+
+//required includes with servo declarations
+#include "Servo.h"
+
+//serial declaration
+Serial pc(USBTX, USBRX);
+Servo myServo1(p21);
+Servo myServo2(p22);
+
+/**********main function**********/
+
+int main()
+{   //calibrate both servos for PW of
+    //0.0018 and a full range of
+    //motion approximately 180 degrees
+    myServo1.calibrate(0.0009, 90);
+    myServo2.calibrate(0.0009, 90);
+
+    //declare initial servo positions
+    myServo1 = 0.0;
+    myServo2 = 1.0;
+
+    //initialize servo position values and motor speed
+    float pos1 = 1.0;
+    float pos2 = 0.0;
+    float i = 0.2;
+    
+    while(1) {
+        //for the servos in forward
+        //and the motor running forward
+        while(pos1 >= 0 && pos2 <= 1) {
+
+            pos1 -= 0.0025;
+            pos2 += 0.0025;
+
+            myServo1 = pos1;
+            myServo2 = pos2;
+
+            dcmotor.speed(i);
+            //time increments to result
+            //in 5 sec total for this sequence
+            wait(0.0125);
+
+        }
+        //for the servos in reverse
+        //and the motor running reverse
+        while(pos1 <= 1 && pos2 >= 0) {
+            pos1 += 0.0025;
+            pos2 -= 0.0025;
+
+            myServo1 = pos1;
+            myServo2 = pos2;
+
+            dcmotor.speed(i * (-1.0));
+            //time increments to result
+            //in 5 sec total for this sequence
+            wait(0.0125);
+        }
+        //increment the motor speed
+        //before next while-loop-sequence
+        if(i <= 1) {
+            i = i + 0.1;
+        }
+    }
+}
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