Michael Ernst Peter / Mbed OS PM2_Example_ROME2_Robots

Example project

Dependencies:   PM2_Libary Eigen

Files at this revision

API Documentation at this revision

Revision 31:1b2a1bd1bccb, committed 2022-03-23

Comitter:
pmic
Date:
Wed Mar 23 11:23:19 2022 +0100
Parent:
30:1e8295770bc1
Child:
32:eae26e82b8ce
Commit message:
Changed some functionality

Changed in this revision

PM2_Libary.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/PM2_Libary.lib	Tue Mar 22 10:45:49 2022 +0100
+++ b/PM2_Libary.lib	Wed Mar 23 11:23:19 2022 +0100
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/pmic/code/PM2_Libary/#ea222b81350eda41414c47268f910f5aec8d8ad1
\ No newline at end of file
+https://os.mbed.com/users/pmic/code/PM2_Libary/#1926540ebbec8eef2f8da8b5ce9170dfa8b9e59d
\ No newline at end of file

--- a/main.cpp	Tue Mar 22 10:45:49 2022 +0100
+++ b/main.cpp	Wed Mar 23 11:23:19 2022 +0100
@@ -90,9 +90,9 @@
     pwm_M1.period(pwm_period_s);
     pwm_M1.write(0.5f);
 
-    // enable servos, you can also disable them at any point in your program if you don't want your servos to become warm
-    servo_S1.Enable(servo_S1_angle, servo_period_mus);
-    servo_S2.Enable(servo_S2_angle, servo_period_mus);
+    // set the soft pwm period for the servo objects
+    servo_S1.SetPeriod(servo_period_mus);
+    servo_S2.SetPeriod(servo_period_mus);
 
     while (true) { // this loop will run forever
 
@@ -115,15 +115,15 @@
             }
 
             // check if servos are enabled
-            if (!servo_S1.isEnabled()) servo_S1.Enable(servo_S1_angle, servo_period_mus);
-            if (!servo_S2.isEnabled()) servo_S2.Enable(servo_S2_angle, servo_period_mus);
+            if (!servo_S1.isEnabled()) servo_S1.Enable();
+            if (!servo_S2.isEnabled()) servo_S2.Enable();
             // command servo position, this needs to be calibrated
             servo_S1.SetPosition(servo_S1_angle);
-            if (servo_S1_angle <= 1.0f & servo_counter%loops_per_seconds == 0 & servo_counter != 0) {
+            if (servo_S1_angle < 1.0f & servo_counter%loops_per_seconds == 0 & servo_counter != 0) {
                 servo_S1_angle += 0.01f;
             }
             servo_S2.SetPosition(servo_S2_angle);
-            if (servo_S2_angle <= 1.0f & servo_counter%loops_per_seconds == 0 & servo_counter != 0) {
+            if (servo_S2_angle < 1.0f & servo_counter%loops_per_seconds == 0 & servo_counter != 0) {
                 servo_S2_angle += 0.01f;
             }
             servo_counter++;