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@24:930fc58e927a, 2020-04-11 (annotated)

Committer:
trmontgomery
Date:
Sat Apr 11 20:56:21 2020 +0000
Revision:
24:930fc58e927a
re-added motor_ctl.h

Who changed what in which revision?

UserRevisionLine numberNew contents of line
trmontgomery 24:930fc58e927a 1 /*// Hello World to sweep a servo through its full range
trmontgomery 24:930fc58e927a 2
trmontgomery 24:930fc58e927a 3 #include "mbed.h"
trmontgomery 24:930fc58e927a 4 #include "Servo.h"
trmontgomery 24:930fc58e927a 5 #include "rtos.h"
trmontgomery 24:930fc58e927a 6
trmontgomery 24:930fc58e927a 7 Servo r_arm(p18);
trmontgomery 24:930fc58e927a 8 Servo l_arm(p19);
trmontgomery 24:930fc58e927a 9 //Servo r_leg(p20);
trmontgomery 24:930fc58e927a 10 //Servo l_leg(p21);
trmontgomery 24:930fc58e927a 11
trmontgomery 24:930fc58e927a 12 Thread t_r_arm;
trmontgomery 24:930fc58e927a 13 Thread t_l_arm;
trmontgomery 24:930fc58e927a 14 //Thread t_r_leg;
trmontgomery 24:930fc58e927a 15 //Thread t_l_leg;
trmontgomery 24:930fc58e927a 16
trmontgomery 24:930fc58e927a 17 DigitalOut led(LED4);
trmontgomery 24:930fc58e927a 18
trmontgomery 24:930fc58e927a 19 //left sensor move whole left side
trmontgomery 24:930fc58e927a 20 //right sensor moves whole right side //not gonna think about this right now. Dicuss ideas with team.
trmontgomery 24:930fc58e927a 21 //and then the distance can just control the height
trmontgomery 24:930fc58e927a 22 //movement pattern can be random.. right now every other note recorded will be distributed to one side and the rest will go to the other
trmontgomery 24:930fc58e927a 23
trmontgomery 24:930fc58e927a 24
trmontgomery 24:930fc58e927a 25 float dists[] = {1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20}; //should I lock this or just make new arrs?
trmontgomery 24:930fc58e927a 26 float r_dists[] = {1,3,5,7,9,11,13,15,17,19};
trmontgomery 24:930fc58e927a 27 float l_dists[] = {2,4,6,8,10,12,14,16,18,20};
trmontgomery 24:930fc58e927a 28
trmontgomery 24:930fc58e927a 29
trmontgomery 24:930fc58e927a 30 void r_dance() {
trmontgomery 24:930fc58e927a 31 r_arm = 0;
trmontgomery 24:930fc58e927a 32 for(int i = 0; i < 10; ++i) {
trmontgomery 24:930fc58e927a 33 r_arm = r_dists[i]/20;
trmontgomery 24:930fc58e927a 34 wait(0.2);
trmontgomery 24:930fc58e927a 35 }
trmontgomery 24:930fc58e927a 36 }
trmontgomery 24:930fc58e927a 37
trmontgomery 24:930fc58e927a 38 void l_dance() {
trmontgomery 24:930fc58e927a 39 l_arm = 0;
trmontgomery 24:930fc58e927a 40 for(int i = 0; i < 10; ++i) {
trmontgomery 24:930fc58e927a 41 l_arm = l_dists[i]/20;
trmontgomery 24:930fc58e927a 42 wait(0.2);
trmontgomery 24:930fc58e927a 43 }
trmontgomery 24:930fc58e927a 44 }
trmontgomery 24:930fc58e927a 45
trmontgomery 24:930fc58e927a 46
trmontgomery 24:930fc58e927a 47 void motor_ctl(){
trmontgomery 24:930fc58e927a 48 t_r_arm.start(r_dance);
trmontgomery 24:930fc58e927a 49 t_l_arm.start(l_dance);
trmontgomery 24:930fc58e927a 50 }
trmontgomery 24:930fc58e927a 51
trmontgomery 24:930fc58e927a 52 */