Mark Schwarzer / Mbed 2 deprecated Schwarzer_A6_1

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Dependencies:   mbed

main.cpp@1:e1139c05dee9, 2020-11-02 (annotated)

Committer:
markschwarzer
Date:
Mon Nov 02 16:04:30 2020 +0000
Revision:
1:e1139c05dee9
Parent:
0:60f29e7619ae
Child:
2:d717847767b9
initial commit, compiles

Who changed what in which revision?

UserRevisionLine numberNew contents of line
markschwarzer 1:e1139c05dee9 1 //Mark Schwarzer Assignment 6 Part 1
markschwarzer 0:60f29e7619ae 2 #include "mbed.h"
markschwarzer 0:60f29e7619ae 3
markschwarzer 1:e1139c05dee9 4
markschwarzer 0:60f29e7619ae 5 PwmOut servo(p20);
markschwarzer 0:60f29e7619ae 6 DigitalIn switch_input(p17);
markschwarzer 0:60f29e7619ae 7 DigitalOut led1(LED1);
markschwarzer 0:60f29e7619ae 8 DigitalOut led2(LED2);
markschwarzer 0:60f29e7619ae 9 DigitalOut led3(LED3);
markschwarzer 0:60f29e7619ae 10 DigitalOut led4(LED4);
markschwarzer 0:60f29e7619ae 11 Serial pc(USBTX,USBRX);
markschwarzer 0:60f29e7619ae 12
markschwarzer 0:60f29e7619ae 13 //Run through a range of pulse widths, report to serial output:
markschwarzer 0:60f29e7619ae 14 void servo_test(float period, float minPulse, float maxPulse, float pulseStep)
markschwarzer 0:60f29e7619ae 15 {
markschwarzer 0:60f29e7619ae 16 float currentPulse;
markschwarzer 0:60f29e7619ae 17 servo.period(period); //set the PWM period
markschwarzer 0:60f29e7619ae 18
markschwarzer 0:60f29e7619ae 19 //Vary the pulse width from minimum to maximum in steps.
markschwarzer 0:60f29e7619ae 20 pc.printf("Commencing Servo Test\r\n");
markschwarzer 0:60f29e7619ae 21 for (currentPulse=minPulse; currentPulse<maxPulse; currentPulse=currentPulse+pulseStep) {
markschwarzer 0:60f29e7619ae 22 servo.pulsewidth(currentPulse/1000000.000); //convert uSec to sec.
markschwarzer 0:60f29e7619ae 23 pc.printf("Current pulse width is %f\r\n",currentPulse);
markschwarzer 0:60f29e7619ae 24 wait(0.5);
markschwarzer 0:60f29e7619ae 25 }
markschwarzer 0:60f29e7619ae 26 pc.printf("Servo Test Finished\r\n");
markschwarzer 0:60f29e7619ae 27 }
markschwarzer 0:60f29e7619ae 28
markschwarzer 0:60f29e7619ae 29
markschwarzer 0:60f29e7619ae 30 //Sends correct pulse width to servo to achieve desired angle:
markschwarzer 0:60f29e7619ae 31 void servo_set_angle(float angle)
markschwarzer 0:60f29e7619ae 32 {
markschwarzer 0:60f29e7619ae 33 float pulseCoeff = 10.0;
markschwarzer 0:60f29e7619ae 34 float pulseOffset = 400;
markschwarzer 0:60f29e7619ae 35 float pulseWidth;
markschwarzer 0:60f29e7619ae 36
markschwarzer 0:60f29e7619ae 37 //Check to make sure commanded angle is within min-max bounds:
markschwarzer 0:60f29e7619ae 38
markschwarzer 0:60f29e7619ae 39 if (angle == 0) {
markschwarzer 0:60f29e7619ae 40 angle = 0;
markschwarzer 0:60f29e7619ae 41 led1=1;
markschwarzer 0:60f29e7619ae 42 } else if (0 < angle <= 90) {
markschwarzer 0:60f29e7619ae 43 led2=1;
markschwarzer 0:60f29e7619ae 44 }
markschwarzer 0:60f29e7619ae 45 if (90 < angle < 180) {
markschwarzer 0:60f29e7619ae 46 led3=1;
markschwarzer 0:60f29e7619ae 47 } else if (angle == 180) {
markschwarzer 0:60f29e7619ae 48 angle = 180.0;
markschwarzer 0:60f29e7619ae 49 led4=1;
markschwarzer 0:60f29e7619ae 50 }
markschwarzer 0:60f29e7619ae 51
markschwarzer 0:60f29e7619ae 52 //Calculate pulsewidth for the desired angle and issue command:
markschwarzer 0:60f29e7619ae 53 pulseWidth = pulseCoeff * angle + pulseOffset;
markschwarzer 0:60f29e7619ae 54 servo.pulsewidth(pulseWidth/1000000.000);
markschwarzer 0:60f29e7619ae 55 }
markschwarzer 0:60f29e7619ae 56
markschwarzer 0:60f29e7619ae 57 int main()
markschwarzer 0:60f29e7619ae 58 {
markschwarzer 0:60f29e7619ae 59 //Leave some time to get connection set up properly
markschwarzer 0:60f29e7619ae 60 wait(3);
markschwarzer 0:60f29e7619ae 61 //test servo from 0 to 5000 uSec, steps of 500
markschwarzer 0:60f29e7619ae 62 servo_test(0.01,0,3000,50);
markschwarzer 0:60f29e7619ae 63
markschwarzer 0:60f29e7619ae 64 //cycle through angles, repeat:
markschwarzer 0:60f29e7619ae 65 float angle;
markschwarzer 0:60f29e7619ae 66 servo.period(0.01);
markschwarzer 0:60f29e7619ae 67
markschwarzer 0:60f29e7619ae 68 while(1) {
markschwarzer 1:e1139c05dee9 69 if (switch_input==1, angle<180) {
markschwarzer 1:e1139c05dee9 70 servo=angle+30.0;
markschwarzer 1:e1139c05dee9 71 wait(1);
markschwarzer 1:e1139c05dee9 72 }
markschwarzer 0:60f29e7619ae 73 angle = 0;
markschwarzer 0:60f29e7619ae 74 pc.printf("Test servo behavior here!");
markschwarzer 0:60f29e7619ae 75 //Run through angles from 0 to 180 ad nauseum:
markschwarzer 0:60f29e7619ae 76 for (angle=0.0; angle<180.0; angle=angle+10.0) {
markschwarzer 0:60f29e7619ae 77 servo_set_angle(angle);
markschwarzer 0:60f29e7619ae 78 pc.printf("Servo Angle: %5.2f\r\n",angle);
markschwarzer 0:60f29e7619ae 79 wait(1);
markschwarzer 0:60f29e7619ae 80 }
markschwarzer 0:60f29e7619ae 81 }
markschwarzer 0:60f29e7619ae 82 }