Jordan DiPaola
Operates two RC servos moving in windshield wiper-like fashion while simultaneously running a DC motor in forward and reverse in sequence with the servos.
Dependencies: Motor Servo mbed
Revision 0:34bcf10d435c, committed 2015-02-26
- Comitter:
- mamaleoni
- Date:
- Thu Feb 26 13:41:45 2015 +0000
- Commit message:
- no changes made
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Thu Feb 26 13:41:45 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/aberk/code/Motor/#c75b234558af
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Thu Feb 26 13:41:45 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/mamaleoni/code/Servo/#4c43286208e7
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Feb 26 13:41:45 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/9ad691361fac \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/servo_main.cpp Thu Feb 26 13:41:45 2015 +0000
@@ -0,0 +1,89 @@
+/*************************************************************
+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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