main.cpp

00001 //Assignment 5 Exercise 2
00002 //Author: Michael Antonucci
00003 //Last Modified: 11/15/2022
00004 
00005 #include "mbed.h"
00006 
00007 DigitalOut myled(LED1);   //Specify inputs and variables
00008 DigitalIn button(p17);
00009 Serial pc(USBTX,USBRX);
00010 PwmOut servo(p21); 
00011 Timer timePressed;
00012 
00013 
00014 void servo_angle(float angle) //declare the angle function
00015 {
00016     float pulseCoeff = 10.0;
00017     float pulseOffset = 400;
00018     float pulseWidth;
00019 
00020     //Make sure angles are within bounds
00021     if (angle < 0) {
00022         angle = 0;
00023     } else if (angle > 180) {
00024         angle = 180.0;
00025     }
00026 
00027     //Calculate the pulsewidth for the desired angle and issue command:
00028     pulseWidth = pulseCoeff * angle + pulseOffset;
00029     servo.pulsewidth(pulseWidth/1000000.000);
00030 }
00031 
00032 int main()
00033 {
00034     wait(3);
00035     float angle; //store angle data
00036     angle = 0; //set to zero
00037     servo_angle(angle);
00038     pc.printf("The servo angle is: %5.2f\r\n",angle);
00039     while(1) {
00040 
00041         while(button.read()==0) { //while button is not pressed
00042             wait(0.1);
00043             if (button.read()==1) { //if pressed
00044                 angle=angle+30;
00045                 servo_angle(angle);
00046                 timePressed.start(); //Start button timer
00047                 pc.printf("The servo angle is: %5.2f\r\n",angle);
00048             }
00049         }
00050         while(button.read()==1) { //while button is pressed
00051             wait(0.1);
00052             if (button.read()==0) { //if released
00053                 timePressed.stop(); //Stop button timer
00054             }
00055         }
00056         if (angle >= 180) { //Reset Servo if angle is greater than 180
00057             angle = 0;
00058             servo_angle(angle);
00059             pc.printf("The servo angle is: %5.2f\r\n",angle);
00060         }
00061         if (timePressed.read_ms()>= 3000) { //Reset servo if timer is greater than 3 seconds
00062             angle = 0;
00063             servo_angle(angle);
00064             pc.printf("The servo angle is: %5.2f\r\n",angle);
00065         }
00066         timePressed.reset(); //Reset button timer
00067 
00068     }
00069 }