liam hogan / Mbed 2 deprecated mbed_liam

servo_hello_world

Dependencies:   mbed Servo MMA7660

liam.cpp@0:1891c8e1bb4a, 2021-02-23 (annotated)

Committer:
mistaherd
Date:
Tue Feb 23 12:11:13 2021 +0000
Revision:
0:1891c8e1bb4a
servo_hello_world

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mistaherd 0:1891c8e1bb4a 1 #include "mbed.h"
mistaherd 0:1891c8e1bb4a 2 #include "Servo.h"
mistaherd 0:1891c8e1bb4a 3 #include <iostream>
mistaherd 0:1891c8e1bb4a 4 #include "MMA7660.h"
mistaherd 0:1891c8e1bb4a 5
mistaherd 0:1891c8e1bb4a 6 Serial pc(USBTX, USBRX); // tx, rx
mistaherd 0:1891c8e1bb4a 7
mistaherd 0:1891c8e1bb4a 8
mistaherd 0:1891c8e1bb4a 9 DigitalIn joy_up(p15);
mistaherd 0:1891c8e1bb4a 10 DigitalIn joy_down(p12);
mistaherd 0:1891c8e1bb4a 11
mistaherd 0:1891c8e1bb4a 12 Servo myservo1(p21);
mistaherd 0:1891c8e1bb4a 13 Servo myservo2(p22);
mistaherd 0:1891c8e1bb4a 14
mistaherd 0:1891c8e1bb4a 15
mistaherd 0:1891c8e1bb4a 16 AnalogIn p1(p19);
mistaherd 0:1891c8e1bb4a 17 AnalogIn p2(p20);
mistaherd 0:1891c8e1bb4a 18
mistaherd 0:1891c8e1bb4a 19 MMA7660 MMA(p28, p27);
mistaherd 0:1891c8e1bb4a 20 DigitalOut connectionLed(LED1);//Accel OK LED
mistaherd 0:1891c8e1bb4a 21
mistaherd 0:1891c8e1bb4a 22 int main (){
mistaherd 0:1891c8e1bb4a 23 char option;
mistaherd 0:1891c8e1bb4a 24 pc.printf("command list 1,2,3,4,5,6,7\n");
mistaherd 0:1891c8e1bb4a 25 while(1){
mistaherd 0:1891c8e1bb4a 26
mistaherd 0:1891c8e1bb4a 27 option = pc.getc();
mistaherd 0:1891c8e1bb4a 28
mistaherd 0:1891c8e1bb4a 29 if (MMA.testConnection())
mistaherd 0:1891c8e1bb4a 30 {
mistaherd 0:1891c8e1bb4a 31 connectionLed = 1 ; //Accelerometer init OK
mistaherd 0:1891c8e1bb4a 32 }
mistaherd 0:1891c8e1bb4a 33 if(option =='1')
mistaherd 0:1891c8e1bb4a 34 {
mistaherd 0:1891c8e1bb4a 35 myservo1 = 1 ;
mistaherd 0:1891c8e1bb4a 36 myservo2 = 1 ;
mistaherd 0:1891c8e1bb4a 37 }
mistaherd 0:1891c8e1bb4a 38 else if(option == '2')
mistaherd 0:1891c8e1bb4a 39 {
mistaherd 0:1891c8e1bb4a 40 myservo1 = - 0.5 ;
mistaherd 0:1891c8e1bb4a 41 myservo2 = - 0.5 ;
mistaherd 0:1891c8e1bb4a 42 }
mistaherd 0:1891c8e1bb4a 43 else if(option =='3')
mistaherd 0:1891c8e1bb4a 44 {
mistaherd 0:1891c8e1bb4a 45 myservo1 = 0;
mistaherd 0:1891c8e1bb4a 46 myservo2 = 0;
mistaherd 0:1891c8e1bb4a 47 }
mistaherd 0:1891c8e1bb4a 48 else if (option =='4')
mistaherd 0:1891c8e1bb4a 49 {
mistaherd 0:1891c8e1bb4a 50 float x ;
mistaherd 0:1891c8e1bb4a 51 cout << "please enter in the degree you want the servo to be at go (limit is 180 degrees be sure to hit enter after command \n\r" ;
mistaherd 0:1891c8e1bb4a 52 cin >> x; // waits for the user to type something and hit enter to finsh
mistaherd 0:1891c8e1bb4a 53 wait(0.01);
mistaherd 0:1891c8e1bb4a 54 myservo1 = x/180;
mistaherd 0:1891c8e1bb4a 55 myservo2 = x/180 ;
mistaherd 0:1891c8e1bb4a 56
mistaherd 0:1891c8e1bb4a 57 }
mistaherd 0:1891c8e1bb4a 58 else if (option == '5')
mistaherd 0:1891c8e1bb4a 59 {
mistaherd 0:1891c8e1bb4a 60 float x=0 ,y=0;
mistaherd 0:1891c8e1bb4a 61 x = (x + MMA.x() );
mistaherd 0:1891c8e1bb4a 62 y = (y -(MMA.y() ));
mistaherd 0:1891c8e1bb4a 63 myservo1 = x;
mistaherd 0:1891c8e1bb4a 64 myservo2 =y ;
mistaherd 0:1891c8e1bb4a 65 //pc.printf("mma.x is = %f ,mma.y is = %f \n \r",MMA.x() ,MMA.y()); use this to see vaules the servo uses
mistaherd 0:1891c8e1bb4a 66
mistaherd 0:1891c8e1bb4a 67 }
mistaherd 0:1891c8e1bb4a 68 else if (option == '6')
mistaherd 0:1891c8e1bb4a 69 {
mistaherd 0:1891c8e1bb4a 70 if (joy_up)
mistaherd 0:1891c8e1bb4a 71 {
mistaherd 0:1891c8e1bb4a 72
mistaherd 0:1891c8e1bb4a 73 myservo1= myservo1+ 0.1;
mistaherd 0:1891c8e1bb4a 74 myservo2 = myservo2 + 0.1;
mistaherd 0:1891c8e1bb4a 75 wait(0.1);
mistaherd 0:1891c8e1bb4a 76 }
mistaherd 0:1891c8e1bb4a 77 else if(joy_down)
mistaherd 0:1891c8e1bb4a 78 {
mistaherd 0:1891c8e1bb4a 79 myservo1= myservo1- 0.1;
mistaherd 0:1891c8e1bb4a 80 myservo2 = myservo2 - 0.1;
mistaherd 0:1891c8e1bb4a 81 wait(0.1);
mistaherd 0:1891c8e1bb4a 82 }
mistaherd 0:1891c8e1bb4a 83 }
mistaherd 0:1891c8e1bb4a 84 else if (option == '7')
mistaherd 0:1891c8e1bb4a 85 {
mistaherd 0:1891c8e1bb4a 86 myservo1=p1;
mistaherd 0:1891c8e1bb4a 87 myservo2=p2;
mistaherd 0:1891c8e1bb4a 88
mistaherd 0:1891c8e1bb4a 89 }
mistaherd 0:1891c8e1bb4a 90 }
mistaherd 0:1891c8e1bb4a 91 }
mistaherd 0:1891c8e1bb4a 92
mistaherd 0:1891c8e1bb4a 93
mistaherd 0:1891c8e1bb4a 94
mistaherd 0:1891c8e1bb4a 95
mistaherd 0:1891c8e1bb4a 96
mistaherd 0:1891c8e1bb4a 97
mistaherd 0:1891c8e1bb4a 98
mistaherd 0:1891c8e1bb4a 99