Celine van Loon / Mbed 2 deprecated Servoaansturing

Servo

Dependencies:   mbed MODSERIAL Servo FastPWM

main.cpp@11:bb036c288cd7, 2019-10-29 (annotated)

Committer:
s1923196
Date:
Tue Oct 29 09:50:16 2019 +0000
Revision:
11:bb036c288cd7
Parent:
10:1754b6220c7a
Child:
12:515bacd56d07
servoscript

Who changed what in which revision?

UserRevisionLine numberNew contents of line
s1923196 10:1754b6220c7a 1
s1923196 10:1754b6220c7a 2 #include "Servo.h"
AnkePost 0:60a8a60074a7 3 #include "mbed.h"
s1923196 10:1754b6220c7a 4 #include "FastPWM.h"
AnkePost 3:91b8945b659d 5
AnkePost 0:60a8a60074a7 6 Serial pc(USBTX, USBRX);
s1923196 10:1754b6220c7a 7 Servo mijnServo(D7);
s1923196 11:bb036c288cd7 8 DigitalIn servo_button_pressed(D1);
s1923196 11:bb036c288cd7 9 //int Position= mijnServo.read();
s1923196 11:bb036c288cd7 10
s1923196 11:bb036c288cd7 11
s1923196 11:bb036c288cd7 12 void servo()
s1923196 11:bb036c288cd7 13 {
s1923196 11:bb036c288cd7 14 double theta_s= 1450; // dit zijn allemaal waarden tussen de 500-2400
s1923196 11:bb036c288cd7 15 double theta_sout; // dit zijn allemaal waarden tussen de 500-2400
s1923196 11:bb036c288cd7 16 double q1; // dit is in rad uit I.K
s1923196 11:bb036c288cd7 17 double q2; // dit is in rad uit I.K
s1923196 11:bb036c288cd7 18 double q1_ser; // dit is 500-2400
s1923196 11:bb036c288cd7 19 double q2_ser; // dit is 500-2400
s1923196 11:bb036c288cd7 20
s1923196 11:bb036c288cd7 21 q1_ser= q1*604.7887837;
s1923196 11:bb036c288cd7 22 q2_ser= q2*604.7887837;
s1923196 11:bb036c288cd7 23
s1923196 11:bb036c288cd7 24 if (servo_button_pressed.read() == false)
s1923196 11:bb036c288cd7 25 {
s1923196 11:bb036c288cd7 26 theta_sout=theta_s-q1_ser+q2_ser+400;
s1923196 11:bb036c288cd7 27 mijnServo.SetPosition(theta_sout);
s1923196 11:bb036c288cd7 28 pc.printf("De servo staat op %f graden.\n\r", theta_sout);
s1923196 11:bb036c288cd7 29 }
s1923196 11:bb036c288cd7 30 else
s1923196 11:bb036c288cd7 31 {
s1923196 11:bb036c288cd7 32 theta_sout=theta_s-q1_ser+q2_ser;
s1923196 11:bb036c288cd7 33 mijnServo.SetPosition(theta_sout);
s1923196 11:bb036c288cd7 34 pc.printf("De servo staat op %f graden.\n\r", theta_sout);
s1923196 11:bb036c288cd7 35 }
s1923196 11:bb036c288cd7 36 }
s1923196 10:1754b6220c7a 37 int main(void)
s1923196 11:bb036c288cd7 38 { servo();
s1923196 11:bb036c288cd7 39 mijnServo.Enable(1500,20000);
s1923196 11:bb036c288cd7 40 }