Carter Montgomery / Mbed 2 deprecated VoodooBoi9000

ECE3872 HW/SW Project Code

Dependencies:   mbed Servo mbed-rtos 4DGL-uLCD-SE PinDetect X_NUCLEO_53L0A1

motor_ctl.h@26:2063ee8419cc, 2020-04-14 (annotated)

Committer:
trmontgomery
Date:
Tue Apr 14 01:40:26 2020 +0000
Revision:
26:2063ee8419cc
Parent:
25:7764baddb7bc 
map of distinct movements is playable. can record and play music at the same time.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
trmontgomery 16:62976c3c029e 1 #include "mbed.h"
trmontgomery 16:62976c3c029e 2 #include "Servo.h"
trmontgomery 18:0e0edd4f9e4d 3 #include "rtos.h"
trmontgomery 26:2063ee8419cc 4 #include <string>
trmontgomery 16:62976c3c029e 5
trmontgomery 16:62976c3c029e 6 Servo r_arm(p24);
trmontgomery 16:62976c3c029e 7 Servo l_arm(p23);
trmontgomery 16:62976c3c029e 8 Servo r_leg(p22);
trmontgomery 16:62976c3c029e 9 Servo l_leg(p21);
trmontgomery 16:62976c3c029e 10
trmontgomery 16:62976c3c029e 11 Thread t_r_arm;
trmontgomery 16:62976c3c029e 12 Thread t_l_arm;
trmontgomery 16:62976c3c029e 13 Thread t_r_leg;
trmontgomery 16:62976c3c029e 14 Thread t_l_leg;
trmontgomery 16:62976c3c029e 15
trmontgomery 26:2063ee8419cc 16 #define DUR 200
trmontgomery 26:2063ee8419cc 17
trmontgomery 26:2063ee8419cc 18 vector<string> move_map; //initialized in main
trmontgomery 26:2063ee8419cc 19 string note;
trmontgomery 16:62976c3c029e 20
trmontgomery 26:2063ee8419cc 21 void la_dance() {
trmontgomery 26:2063ee8419cc 22 switch(note[0]){
trmontgomery 26:2063ee8419cc 23 case 0: l_arm.write(1.0); break;
trmontgomery 26:2063ee8419cc 24 case 1: l_arm.write(0.0); break;
trmontgomery 26:2063ee8419cc 25 }
trmontgomery 26:2063ee8419cc 26 Thread::wait(DUR);
trmontgomery 26:2063ee8419cc 27 }
trmontgomery 16:62976c3c029e 28
trmontgomery 25:7764baddb7bc 29 void ra_dance() {
trmontgomery 26:2063ee8419cc 30 switch(note[1]){
trmontgomery 26:2063ee8419cc 31 case '0': r_arm.write(1.0); break;
trmontgomery 26:2063ee8419cc 32 case '1': r_arm.write(0.0); break;
trmontgomery 16:62976c3c029e 33 }
trmontgomery 26:2063ee8419cc 34 Thread::wait(DUR);
trmontgomery 16:62976c3c029e 35 }
trmontgomery 16:62976c3c029e 36
trmontgomery 26:2063ee8419cc 37 void ll_dance() {
trmontgomery 26:2063ee8419cc 38 switch(note[2]){
trmontgomery 26:2063ee8419cc 39 case 1: r_leg.write(1.0); break;
trmontgomery 26:2063ee8419cc 40 case 2: r_leg.write(0.6); break;
trmontgomery 26:2063ee8419cc 41 case 3: r_leg.write(0.1); break;
trmontgomery 16:62976c3c029e 42 }
trmontgomery 26:2063ee8419cc 43 Thread::wait(DUR);
trmontgomery 16:62976c3c029e 44 }
trmontgomery 16:62976c3c029e 45
trmontgomery 25:7764baddb7bc 46 void rl_dance() {
trmontgomery 26:2063ee8419cc 47 switch(note[3]){
trmontgomery 26:2063ee8419cc 48 case 1: l_leg.write(1.0); break;
trmontgomery 26:2063ee8419cc 49 case 2: l_leg.write(0.6); break;
trmontgomery 26:2063ee8419cc 50 case 3: l_leg.write(0.1); break;
trmontgomery 16:62976c3c029e 51 }
trmontgomery 26:2063ee8419cc 52 Thread::wait(DUR);
trmontgomery 16:62976c3c029e 53 }
trmontgomery 16:62976c3c029e 54
trmontgomery 26:2063ee8419cc 55 void puppet_move(){
trmontgomery 26:2063ee8419cc 56 t_r_arm.start(ra_dance);
trmontgomery 26:2063ee8419cc 57 t_l_arm.start(la_dance);
trmontgomery 26:2063ee8419cc 58 t_r_leg.start(rl_dance);
trmontgomery 26:2063ee8419cc 59 t_l_leg.start(ll_dance);
trmontgomery 16:62976c3c029e 60 }
trmontgomery 16:62976c3c029e 61