William McColl
/
Balanced-Arm
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Dependencies: MCP23017 WattBob_TextLCD mbed
Fork of
Balanced Arm
by 
Balanced Arm
Revision 15:fb0de6376f8a, committed 2016-02-03
- Comitter:
- wm70
- Date:
- Wed Feb 03 14:10:51 2016 +0000
- Parent:
- 14:3be8ca0c066d
- Child:
- 16:585f8b5abc2c
- Commit message:
- Torque working
Changed in this revision
--- a/PC_Comms/PC_Comms.cpp Wed Feb 03 13:58:54 2016 +0000
+++ b/PC_Comms/PC_Comms.cpp Wed Feb 03 14:10:51 2016 +0000
@@ -78,16 +78,16 @@
switch(Command[2])
{
case '0':
- char angle[3];
- angle[0] = Command[4];
- angle[1] = Command[5];
- angle[2] = Command[6];
- int angle2 = atoi(angle);
- lcd->cls();
- lcd->printf("%i", angle2);
- wait(1);
- my_AX12.SetGoal(angle2);
- break;
+// char angle[3];
+// angle[0] = Command[4];
+// angle[1] = Command[5];
+// angle[2] = Command[6];
+// int angle2 = atoi(angle);
+// lcd->cls();
+// lcd->printf("%i", angle2);
+// wait(1);
+// my_AX12.SetGoal(angle2);
+// break;
default:
break;
}
@@ -109,10 +109,10 @@
lcd->cls();
lcd->printf("%i", data);
wait(5);
- _returnToPC[0] = 'S';
- _returnToPC[1] = 'D';
- _returnToPC[2] = '0';
- _returnToPC[3] = _servo;
+// _returnToPC[0] = 'S';
+// _returnToPC[1] = 'D';
+// _returnToPC[2] = '0';
+// _returnToPC[3] = _servo;
// _returnToPC[4] = '0';
// _returnToPC[5] = '0';
// _returnToPC[6] = '0';
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Robotic_Control/Robotic_Control.h Wed Feb 03 14:10:51 2016 +0000
@@ -0,0 +1,19 @@
+#ifndef Robotic_Control_H
+#define Robotic_Control_H
+
+#include <string>
+#include "mbed.h"
+#include "WattBob_TextLCD.h"
+#include "AX12.h"
+
+class PC_Comms
+{
+
+public:
+
+
+
+private:
+
+};
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Robotic_Control/Robotic_control.cpp Wed Feb 03 14:10:51 2016 +0000
@@ -0,0 +1,27 @@
+//*********************************************************************
+// Author:
+// File:
+// Version:
+// Date:
+//*********************************************************************
+
+#include <string>
+#include "PC_Comms.h"
+#include "mbed.h"
+#include "MCP23017.h"
+#include "WattBob_TextLCD.h"
+#include "AX12.h"
+
+Robotic_Control::SetServoPos(int servo, int position){
+ char angle[3];
+ angle[0] = Command[4];
+ angle[1] = Command[5];
+ angle[2] = Command[6];
+ int angle2 = atoi(angle);
+ lcd->cls();
+ lcd->printf("%i", angle2);
+ wait(1);
+ my_AX12.SetGoal(angle2);
+ break;
+
+ }
--- a/main.cpp Wed Feb 03 13:58:54 2016 +0000 +++ b/main.cpp Wed Feb 03 14:10:51 2016 +0000 @@ -3,6 +3,14 @@ #include "mbed.h" #include "PC_Comms.h" + + MCP23017 *par_port; + WattBob_TextLCD *lcd; + Serial ax12_bus(p28, p27); + Serial _PCbus(USBTX, USBRX); + AX12 my_AX12(ax12_bus, _PCbus, p29, 1); + + PC_Comms HShake; float position;