main.cpp

00001 #include "mbed.h"
00002 #include "Servo.h"
00003 
00004 //DigitalOut led1(LED1);
00005 //DigitalOut led2(LED2);
00006 //DigitalOut led3(LED3);
00007 //DigitalOut led4(LED4);
00008 
00009 /*
00010 The arch cookbook in mbed.org website
00011     http://mbed.org/users/viswesr/notebook/arch-cookbook/
00012 */
00013 PwmOut servo(P1_24);    //seeedarch pin for the multiturn servo
00014 Servo rudder(P1_25);    //seeedarch pin for the rudder servo
00015 
00016 Serial bbb(P1_18,P1_17);//seeedarch pin for the UART communication tx, rx
00017 
00018 
00019 AnalogIn ain(P0_11);//seeedarch analog in pin
00020 
00021 void servo_initial(void);
00022 void multiturn_servo(int type, int circle);
00023 
00024 int main() 
00025 {
00026     int circle=5;
00027     
00028     //servo_initial();
00029     bbb.baud(115200);
00030     while(~bbb.writeable());
00031     bbb.putc('s');
00032     while(1)
00033     {
00034          if(bbb.readable()) {
00035             bbb.putc(bbb.getc()+1);
00036         }    
00037 
00038     }
00039   
00040     while(1)
00041     {
00042         //Multiturn servo
00043         multiturn_servo(2,1);//20+10 degree
00044         multiturn_servo(0,10);
00045         multiturn_servo(2,1);//20+20 degree
00046         multiturn_servo(0,10);
00047         multiturn_servo(2,1);//50
00048         multiturn_servo(0,10);
00049         multiturn_servo(2,1);//60
00050         multiturn_servo(0,10);
00051         multiturn_servo(2,1);//70
00052         multiturn_servo(0,10);
00053         multiturn_servo(2,1);//80
00054         multiturn_servo(0,10); 
00055         
00056         
00057         //multiturn_servo(1,1);
00058         multiturn_servo(1,2);
00059         multiturn_servo(0,10);
00060         multiturn_servo(1,2);
00061         multiturn_servo(0,10);
00062         multiturn_servo(1,2);
00063         multiturn_servo(0,10);
00064         multiturn_servo(1,2);
00065         multiturn_servo(0,10);
00066         multiturn_servo(1,4);
00067         multiturn_servo(0,10);
00068         multiturn_servo(1,5);
00069         multiturn_servo(0,10);
00070         wait(2);
00071         
00072         //Rudder servo
00073         rudder.write(0.0);
00074         wait(0.01);
00075         wait(2);
00076         rudder.write(0.5);
00077         wait(0.01);
00078         wait(2);
00079         rudder.write(1.0);
00080         wait(0.01);
00081         wait(2);
00082      }      
00083 }
00084 
00085 void servo_initial()
00086 {
00087         servo.period_ms(22);          //multiturn servo requires a 22ms period
00088         //Initial the position to far end
00089         multiturn_servo(1,10);
00090         multiturn_servo(0,20);
00091 }
00092 
00093 /*
00094     Control the multiturn servo to turn or stop it
00095     To turn the servo clockwise use pulsewidth 1.7 ms
00096     To turn the servo counter clockwise use pulsewidth 2.0 ms
00097     To stop the servo use the pulsewidth 10 ms
00098 */
00099 void multiturn_servo(int type, int circle)
00100 {
00101     float pulse_width=0.0;
00102     int i;
00103     
00104     switch(type)
00105     {
00106         case 0:
00107             pulse_width=10.0;//stop
00108             break;
00109         case 1:
00110             pulse_width=1.6;//counter clockwise
00111             break;
00112         case 2:
00113             pulse_width=2.0;//clockwise
00114             break;
00115     }
00116     for(i=0;i<circle;i++)
00117     {
00118         servo.pulsewidth_ms(pulse_width); // servo position determined by a pulsewidth between 1-2ms
00119         wait(0.25);
00120     }   
00121 
00122 }