ECE3872 HW/SW Project Code
Dependencies:
mbed
Servo
mbed-rtos
4DGL-uLCD-SE
PinDetect
X_NUCLEO_53L0A1
motor_ctl.h@19:f76e4ffddbe1, 2020-04-04 (annotated)
- Committer:
- trmontgomery
- Date:
- Sat Apr 04 23:51:19 2020 +0000
- Revision:
- 19:f76e4ffddbe1
refactoring and servo testing
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
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| trmontgomery |
19:f76e4ffddbe1
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/*// Hello World to sweep a servo through its full range
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| trmontgomery |
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| trmontgomery |
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#include "mbed.h"
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| trmontgomery |
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#include "Servo.h"
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| trmontgomery |
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#include "rtos.h"
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| trmontgomery |
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| trmontgomery |
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Servo r_arm(p18);
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| trmontgomery |
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Servo l_arm(p19);
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| trmontgomery |
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//Servo r_leg(p20);
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| trmontgomery |
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//Servo l_leg(p21);
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| trmontgomery |
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| trmontgomery |
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Thread t_r_arm;
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| trmontgomery |
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Thread t_l_arm;
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| trmontgomery |
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//Thread t_r_leg;
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| trmontgomery |
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//Thread t_l_leg;
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| trmontgomery |
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| trmontgomery |
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DigitalOut led(LED4);
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| trmontgomery |
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| trmontgomery |
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//left sensor move whole left side
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| trmontgomery |
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//right sensor moves whole right side //not gonna think about this right now. Dicuss ideas with team.
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| trmontgomery |
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//and then the distance can just control the height
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| trmontgomery |
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//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
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| trmontgomery |
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| trmontgomery |
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| trmontgomery |
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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?
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| trmontgomery |
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float r_dists[] = {1,3,5,7,9,11,13,15,17,19};
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| trmontgomery |
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float l_dists[] = {2,4,6,8,10,12,14,16,18,20};
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| trmontgomery |
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| trmontgomery |
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| trmontgomery |
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void r_dance() {
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| trmontgomery |
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r_arm = 0;
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| trmontgomery |
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for(int i = 0; i < 10; ++i) {
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| trmontgomery |
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r_arm = r_dists[i]/20;
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| trmontgomery |
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wait(0.2);
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| trmontgomery |
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}
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| trmontgomery |
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}
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| trmontgomery |
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| trmontgomery |
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void l_dance() {
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| trmontgomery |
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l_arm = 0;
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| trmontgomery |
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for(int i = 0; i < 10; ++i) {
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| trmontgomery |
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l_arm = l_dists[i]/20;
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| trmontgomery |
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wait(0.2);
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| trmontgomery |
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}
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| trmontgomery |
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}
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| trmontgomery |
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| trmontgomery |
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| trmontgomery |
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void motor_ctl(){
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| trmontgomery |
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t_r_arm.start(r_dance);
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| trmontgomery |
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t_l_arm.start(l_dance);
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| trmontgomery |
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}
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| trmontgomery |
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| trmontgomery |
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*/
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Carter Montgomery
