For IEEE Robotics
Dependencies: Adafruit-16-Ch-PWM-Servo-Driver HCSR04 PID PololuQik2 QEI Sharp mbed-rtos
Diff: main.cpp
- Revision:
- 5:429e9a998bab
- Parent:
- 4:42460f387701
- Child:
- 6:75259c3306dd
diff -r 42460f387701 -r 429e9a998bab main.cpp --- a/main.cpp Thu Mar 13 17:10:42 2014 +0000 +++ b/main.cpp Fri Mar 14 22:15:58 2014 +0000 @@ -55,8 +55,10 @@ // POSITION ODER: // base_rotate, base_arm, lil_arm, int big_arm, int claw_arm, int claw_rotate, int claw_open - {STORE_POSITION, 900, 900, 900, 900, 900, 900, 900}, // storing position - {OIL_RIG1, 1500, 1400, 1900, 900, 900, 0, 0}, // point laser at oilrig2 + {STORE_POSITION, 90, 0, 177, 0, 0, 90, 90}, // storing position + {OIL_RIG1, 90, 60, 130, 75, 60, 90, 90}, // point laser at oilrig1 + {OIL_RIG2, 120, 60, 130, 75, 60, 90, 90}, // point laser at oilrig2 + {OIL_RIG3, 135, 60, 130, 75, 60, 90, 90}, // point laser at oilrig2 }; @@ -84,9 +86,19 @@ //Servo initialization initServoDriver(); - // servoBegin(); // initiates servos to start position + servoBegin(); // initiates servos to start position //ServoOutputDisable = 0; +while(1){ + //pc.scanf("%d %d", &servoNum, &servoAngle); + //setServoPulse(servoNum, servoAngle); + pc.scanf("%d", &posNum); + servoPosition(posNum); + + + } + +/* while(1) { pc.printf("PICK A TEST TO PERFORM\n"); pc.printf("1) Distance Reading\n"); @@ -112,7 +124,7 @@ default: pc.printf("ERROR: NOT A VALID TEST PROCEDURE"); break; - } + }*/ /*if(pc.readable()) { @@ -125,8 +137,8 @@ //servoPosition(posNum); - }*/ - } + } + }*/ /************************************************** * FIRST STAGE @@ -196,10 +208,10 @@ { pc.printf("Setting Initial Position\n\r"); setServoPulseNo_delay(0, 90); - setServoPulseNo_delay(1, 90); - setServoPulseNo_delay(2, 90); - setServoPulseNo_delay(3, 90); - setServoPulseNo_delay(4, 90); + setServoPulseNo_delay(1, 0); + setServoPulseNo_delay(2, 177); + setServoPulseNo_delay(3, 0); + setServoPulseNo_delay(4, 0); setServoPulseNo_delay(5, 90); setGripper(1); }