Mark Schwarzer / Mbed 2 deprecated Schwarzer_A6_1

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

main.cpp@0:60f29e7619ae, 2020-10-27 (annotated)

Committer:
markschwarzer
Date:
Tue Oct 27 22:49:25 2020 +0000
Revision:
0:60f29e7619ae
Child:
1:e1139c05dee9
initial, with edits to code given

Who changed what in which revision?

UserRevisionLine numberNew contents of line
markschwarzer 0:60f29e7619ae 1 #include "mbed.h"
markschwarzer 0:60f29e7619ae 2
markschwarzer 0:60f29e7619ae 3 PwmOut servo(p20);
markschwarzer 0:60f29e7619ae 4 DigitalIn switch_input(p17);
markschwarzer 0:60f29e7619ae 5 DigitalOut led1(LED1);
markschwarzer 0:60f29e7619ae 6 DigitalOut led2(LED2);
markschwarzer 0:60f29e7619ae 7 DigitalOut led3(LED3);
markschwarzer 0:60f29e7619ae 8 DigitalOut led4(LED4);
markschwarzer 0:60f29e7619ae 9 Serial pc(USBTX,USBRX);
markschwarzer 0:60f29e7619ae 10
markschwarzer 0:60f29e7619ae 11 //Run through a range of pulse widths, report to serial output:
markschwarzer 0:60f29e7619ae 12 void servo_test(float period, float minPulse, float maxPulse, float pulseStep)
markschwarzer 0:60f29e7619ae 13 {
markschwarzer 0:60f29e7619ae 14 float currentPulse;
markschwarzer 0:60f29e7619ae 15 servo.period(period); //set the PWM period
markschwarzer 0:60f29e7619ae 16
markschwarzer 0:60f29e7619ae 17 //Vary the pulse width from minimum to maximum in steps.
markschwarzer 0:60f29e7619ae 18 pc.printf("Commencing Servo Test\r\n");
markschwarzer 0:60f29e7619ae 19 for (currentPulse=minPulse; currentPulse<maxPulse; currentPulse=currentPulse+pulseStep) {
markschwarzer 0:60f29e7619ae 20 servo.pulsewidth(currentPulse/1000000.000); //convert uSec to sec.
markschwarzer 0:60f29e7619ae 21 pc.printf("Current pulse width is %f\r\n",currentPulse);
markschwarzer 0:60f29e7619ae 22 wait(0.5);
markschwarzer 0:60f29e7619ae 23 }
markschwarzer 0:60f29e7619ae 24 pc.printf("Servo Test Finished\r\n");
markschwarzer 0:60f29e7619ae 25 }
markschwarzer 0:60f29e7619ae 26
markschwarzer 0:60f29e7619ae 27
markschwarzer 0:60f29e7619ae 28 //Sends correct pulse width to servo to achieve desired angle:
markschwarzer 0:60f29e7619ae 29 void servo_set_angle(float angle)
markschwarzer 0:60f29e7619ae 30 {
markschwarzer 0:60f29e7619ae 31 float pulseCoeff = 10.0;
markschwarzer 0:60f29e7619ae 32 float pulseOffset = 400;
markschwarzer 0:60f29e7619ae 33 float pulseWidth;
markschwarzer 0:60f29e7619ae 34
markschwarzer 0:60f29e7619ae 35 //Check to make sure commanded angle is within min-max bounds:
markschwarzer 0:60f29e7619ae 36
markschwarzer 0:60f29e7619ae 37 if (angle == 0) {
markschwarzer 0:60f29e7619ae 38 angle = 0;
markschwarzer 0:60f29e7619ae 39 led1=1;
markschwarzer 0:60f29e7619ae 40 } else if (0 < angle <= 90) {
markschwarzer 0:60f29e7619ae 41 led2=1;
markschwarzer 0:60f29e7619ae 42 }
markschwarzer 0:60f29e7619ae 43 if (90 < angle < 180) {
markschwarzer 0:60f29e7619ae 44 led3=1;
markschwarzer 0:60f29e7619ae 45 } else if (angle == 180) {
markschwarzer 0:60f29e7619ae 46 angle = 180.0;
markschwarzer 0:60f29e7619ae 47 led4=1;
markschwarzer 0:60f29e7619ae 48 }
markschwarzer 0:60f29e7619ae 49
markschwarzer 0:60f29e7619ae 50 //Calculate pulsewidth for the desired angle and issue command:
markschwarzer 0:60f29e7619ae 51 pulseWidth = pulseCoeff * angle + pulseOffset;
markschwarzer 0:60f29e7619ae 52 servo.pulsewidth(pulseWidth/1000000.000);
markschwarzer 0:60f29e7619ae 53 }
markschwarzer 0:60f29e7619ae 54
markschwarzer 0:60f29e7619ae 55 int main()
markschwarzer 0:60f29e7619ae 56 {
markschwarzer 0:60f29e7619ae 57 //Leave some time to get connection set up properly
markschwarzer 0:60f29e7619ae 58 wait(3);
markschwarzer 0:60f29e7619ae 59 //test servo from 0 to 5000 uSec, steps of 500
markschwarzer 0:60f29e7619ae 60 servo_test(0.01,0,3000,50);
markschwarzer 0:60f29e7619ae 61
markschwarzer 0:60f29e7619ae 62 //cycle through angles, repeat:
markschwarzer 0:60f29e7619ae 63 float angle;
markschwarzer 0:60f29e7619ae 64 servo.period(0.01);
markschwarzer 0:60f29e7619ae 65
markschwarzer 0:60f29e7619ae 66 while(1) {
markschwarzer 0:60f29e7619ae 67 angle = 0;
markschwarzer 0:60f29e7619ae 68 pc.printf("Test servo behavior here!");
markschwarzer 0:60f29e7619ae 69 //Run through angles from 0 to 180 ad nauseum:
markschwarzer 0:60f29e7619ae 70 for (angle=0.0; angle<180.0; angle=angle+10.0) {
markschwarzer 0:60f29e7619ae 71 servo_set_angle(angle);
markschwarzer 0:60f29e7619ae 72 pc.printf("Servo Angle: %5.2f\r\n",angle);
markschwarzer 0:60f29e7619ae 73 wait(1);
markschwarzer 0:60f29e7619ae 74 }
markschwarzer 0:60f29e7619ae 75 }
markschwarzer 0:60f29e7619ae 76 }