Diff: main.cpp

Revision:

12:e5be1469bc76

Parent:

11:af0f165f8761

Child:

13:bc1df4256578

--- a/main.cpp	Wed Apr 14 12:15:40 2021 +0000
+++ b/main.cpp	Wed Apr 14 14:08:47 2021 +0000
@@ -52,10 +52,12 @@
 /* create servo objects */
 Servo servo_S1(PB_2);
 Servo servo_S2(PC_8);
+Servo servo_S3(PC_6);
 // Servo servo_S3(PC_6); // PC_6 is used for ultra sonic sensor below
 int servoPeriod_mus = 20000;
 int servoOutput_mus_S1 = 0;
 int servoOutput_mus_S2 = 0;
+int servoOutput_mus_S3 = 0;
 int servo_counter = 0;
 int loops_per_second = static_cast<int>(ceilf(1.0f/(0.001f*(float)Ts_ms)));
 
@@ -82,6 +84,7 @@
     /* enable servos, you can also disable them */
     servo_S1.Enable(servoOutput_mus_S1, servoPeriod_mus);
     servo_S2.Enable(servoOutput_mus_S2, servoPeriod_mus);
+    servo_S3.Enable(servoOutput_mus_S3, servoPeriod_mus);
 
     while (true) {
 
@@ -103,12 +106,16 @@
             /* command servo position via output time, this needs to be calibrated */
             servo_S1.SetPosition(servoOutput_mus_S1);
             servo_S2.SetPosition(servoOutput_mus_S2);
+            servo_S3.SetPosition(servoOutput_mus_S3);
             if (servoOutput_mus_S1 <= servoPeriod_mus & servo_counter%loops_per_second == 0 & servo_counter != 0) {
                 servoOutput_mus_S1 += 100;
             }
             if (servoOutput_mus_S2 <= servoPeriod_mus & servo_counter%loops_per_second == 0 & servo_counter != 0) {
                 servoOutput_mus_S2 += 100;
             }
+            if (servoOutput_mus_S3 <= servoPeriod_mus & servo_counter%loops_per_second == 0 & servo_counter != 0) {
+                servoOutput_mus_S3 += 100;
+            }
             servo_counter++;
 
             /* read ultra sonic distance sensor */
@@ -127,19 +134,22 @@
 
             servoOutput_mus_S1 = 0;
             servoOutput_mus_S2 = 0;
+            servoOutput_mus_S3 = 0;
             servo_S1.SetPosition(servoOutput_mus_S1);
             servo_S2.SetPosition(servoOutput_mus_S2);
-            
+            servo_S3.SetPosition(servoOutput_mus_S3);
+
             dist_USSensor = 0.0f;
 
             led = 0;
         }
 
         /* do only output via serial what's really necessary (this makes your code slow)*/
-        printf("%3.3f, %3d, %3d, %3d, %3.3f, %3.3f, %3.3f;\r\n",
+        printf("%3.3f, %3d, %3d, %3d, %3d, %3.3f, %3.3f, %3.3f;\r\n",
                dist_IRSensor,
                servoOutput_mus_S1,
                servoOutput_mus_S2,
+               servoOutput_mus_S3,
                encoderCounter_M3.read(),
                speedController_M1.getSpeedRPS(),
                speedController_M2.getSpeedRPS(),