Revision 0:6d9c7e98dab0, committed 23 months ago

Comitter:

michael_antonucci

Date:

Wed Nov 16 04:52:35 2022 +0000

Commit message:

Working servo code. Has a bug where the button needs to be pressed twice at first. Not sure how to resolve

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Nov 16 04:52:35 2022 +0000
@@ -0,0 +1,69 @@
+//Assignment 5 Exercise 2
+//Author: Michael Antonucci
+//Last Modified: 11/15/2022
+
+#include "mbed.h"
+
+DigitalOut myled(LED1);   //Specify inputs and variables
+DigitalIn button(p17);
+Serial pc(USBTX,USBRX);
+PwmOut servo(p21); 
+Timer timePressed;
+
+
+void servo_angle(float angle) //declare the angle function
+{
+    float pulseCoeff = 10.0;
+    float pulseOffset = 400;
+    float pulseWidth;
+
+    //Make sure angles are within bounds
+    if (angle < 0) {
+        angle = 0;
+    } else if (angle > 180) {
+        angle = 180.0;
+    }
+
+    //Calculate the pulsewidth for the desired angle and issue command:
+    pulseWidth = pulseCoeff * angle + pulseOffset;
+    servo.pulsewidth(pulseWidth/1000000.000);
+}
+
+int main()
+{
+    wait(3);
+    float angle; //store angle data
+    angle = 0; //set to zero
+    servo_angle(angle);
+    pc.printf("The servo angle is: %5.2f\r\n",angle);
+    while(1) {
+
+        while(button.read()==0) { //while button is not pressed
+            wait(0.1);
+            if (button.read()==1) { //if pressed
+                angle=angle+30;
+                servo_angle(angle);
+                timePressed.start(); //Start button timer
+                pc.printf("The servo angle is: %5.2f\r\n",angle);
+            }
+        }
+        while(button.read()==1) { //while button is pressed
+            wait(0.1);
+            if (button.read()==0) { //if released
+                timePressed.stop(); //Stop button timer
+            }
+        }
+        if (angle >= 180) { //Reset Servo if angle is greater than 180
+            angle = 0;
+            servo_angle(angle);
+            pc.printf("The servo angle is: %5.2f\r\n",angle);
+        }
+        if (timePressed.read_ms()>= 3000) { //Reset servo if timer is greater than 3 seconds
+            angle = 0;
+            servo_angle(angle);
+            pc.printf("The servo angle is: %5.2f\r\n",angle);
+        }
+        timePressed.reset(); //Reset button timer
+
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed Nov 16 04:52:35 2022 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file