Aislinn Probst / Mbed 2 deprecated ServoLab

Code from part C of the servo lab

Dependencies:   Motor Servo mbed

main.cpp@0:9e14f994576d, 2015-02-27 (annotated)

Committer:
probst
Date:
Fri Feb 27 04:21:15 2015 +0000
Revision:
0:9e14f994576d
Part D servo lab;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
probst 0:9e14f994576d 1 // define necessary includes
probst 0:9e14f994576d 2 #include "mbed.h"
probst 0:9e14f994576d 3 #include "Motor.h"
probst 0:9e14f994576d 4 #include "Servo.h"
probst 0:9e14f994576d 5 #define PULSE .0009
probst 0:9e14f994576d 6 #define MAX 90
probst 0:9e14f994576d 7
probst 0:9e14f994576d 8 //define the two servos
probst 0:9e14f994576d 9 Servo servoOne(p21);
probst 0:9e14f994576d 10 Servo servoTwo(p22);
probst 0:9e14f994576d 11
probst 0:9e14f994576d 12 //define the motor
probst 0:9e14f994576d 13 Motor m(p23,p24,p25);
probst 0:9e14f994576d 14 Serial pc(USBTX, USBRX);
probst 0:9e14f994576d 15
probst 0:9e14f994576d 16
probst 0:9e14f994576d 17 int main()
probst 0:9e14f994576d 18 {
probst 0:9e14f994576d 19 //calibrate the two servos
probst 0:9e14f994576d 20 servoOne.calibrate(PULSE,MAX);
probst 0:9e14f994576d 21 servoTwo.calibrate(PULSE,MAX);
probst 0:9e14f994576d 22
probst 0:9e14f994576d 23 //declare the initial motor speed
probst 0:9e14f994576d 24 double motorSpeed = .1;
probst 0:9e14f994576d 25
probst 0:9e14f994576d 26 //set the tow servoes to their initial positions
probst 0:9e14f994576d 27 float position = 0;
probst 0:9e14f994576d 28 float positionTwo = 1;
probst 0:9e14f994576d 29
probst 0:9e14f994576d 30 while(1)
probst 0:9e14f994576d 31 {
probst 0:9e14f994576d 32 //declare the initial positions
probst 0:9e14f994576d 33 servoOne = position; //0
probst 0:9e14f994576d 34 servoTwo = positionTwo; //1
probst 0:9e14f994576d 35
probst 0:9e14f994576d 36 //spin the servos in opposite directions forward
probst 0:9e14f994576d 37 while(position < 1 && positionTwo > 0)
probst 0:9e14f994576d 38 {
probst 0:9e14f994576d 39 if(motorSpeed != 1){motorSpeed = motorSpeed + .1;};
probst 0:9e14f994576d 40 m.speed(motorSpeed);
probst 0:9e14f994576d 41 position = position + .0001;
probst 0:9e14f994576d 42 positionTwo = positionTwo - .0001;
probst 0:9e14f994576d 43 servoOne = position;
probst 0:9e14f994576d 44 servoTwo = positionTwo;
probst 0:9e14f994576d 45
probst 0:9e14f994576d 46
probst 0:9e14f994576d 47 wait(.00025);
probst 0:9e14f994576d 48
probst 0:9e14f994576d 49 }
probst 0:9e14f994576d 50
probst 0:9e14f994576d 51 //spin the servos in opposite positions backwards
probst 0:9e14f994576d 52 while(position > 0 && positionTwo < 1)
probst 0:9e14f994576d 53 {
probst 0:9e14f994576d 54 m.speed(-motorSpeed);
probst 0:9e14f994576d 55 position = position - .0001;
probst 0:9e14f994576d 56 positionTwo = positionTwo + .0001;
probst 0:9e14f994576d 57 servoOne = position;
probst 0:9e14f994576d 58 servoTwo = positionTwo;
probst 0:9e14f994576d 59 wait(.00025);
probst 0:9e14f994576d 60
probst 0:9e14f994576d 61 }
probst 0:9e14f994576d 62
probst 0:9e14f994576d 63
probst 0:9e14f994576d 64
probst 0:9e14f994576d 65 }
probst 0:9e14f994576d 66
probst 0:9e14f994576d 67 }