TurtleBot / Mbed 2 deprecated TurtleBot_V5

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Dependencies:   Servo mbed-rtos mbed

Fork of Servo_without_thread by TurtleBot

Files at this revision

API Documentation at this revision

Revision 0:3af6fae90816, committed 2018-04-01

Comitter:
Khanchana
Date:
Sun Apr 01 14:20:53 2018 +0000
Child:
1:852156b5cca1
Commit message:
servo code v.1

Changed in this revision

Servo.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.lib	Sun Apr 01 14:20:53 2018 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/jdenkers/code/Servo/#352133517ccc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Apr 01 14:20:53 2018 +0000
@@ -0,0 +1,65 @@
+#include "mbed.h"
+#include "Servo.h"
+#include "rtos.h"
+
+Serial pc(USBTX, USBRX);
+ 
+Servo Servo1(D6);
+Servo Servo2(D8);
+Servo Servo3(D9);
+Servo Servo4(D10);
+
+void myservoLeft();
+
+int pos_down = 1400;
+int pos_up = 1000;
+int pos_down_end = 1700;
+int pos_up_end = 1700;
+
+int main() {
+    pc.baud(9600);
+    wait(5);
+    Servo1.Enable(1000,2000);
+    Servo2.Enable(1000,2000);
+    Servo3.Enable(1000,2000);
+    Servo4.Enable(1000,2000);
+    while(1){
+        myservoLeft();
+        if(pos_down <= pos_down_end and pos_up == 1000){
+            Servo1.SetPosition(pos_down);
+            pos_down = pos_down+2;
+        }
+        else if(pos_down == pos_down_end+2 and pos_up <= 1700){
+            Servo2.SetPosition(pos_up);
+            pos_up = pos_up+2;
+        }
+        else if(pos_down >= 1400 and pos_up == pos_up_end+2){
+            Servo1.SetPosition(pos_down);
+            pos_down = pos_down-2;
+        }
+        else if(pos_down == 1398 and pos_up > 1000){
+            Servo2.SetPosition(pos_up);
+            pos_up = pos_up-2;
+        }           
+    }
+}
+
+void myservoLeft() 
+{   
+        if(pos_down <= pos_down_end and pos_up == 1000){
+            Servo3.SetPosition(pos_down);
+            pos_down = pos_down+2;
+        }
+        else if(pos_down == pos_down_end+2 and pos_up <= 1700){
+            Servo4.SetPosition(pos_up);
+            pos_up = pos_up+2;
+        }
+        else if(pos_down >= 1400 and pos_up == pos_up_end+2){
+            Servo3.SetPosition(pos_down);
+            pos_down = pos_down-2;
+        }
+        else if(pos_down == 1398 and pos_up > 1000){
+            Servo4.SetPosition(pos_up);
+            pos_up = pos_up-2;
+        }           
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sun Apr 01 14:20:53 2018 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/994bdf8177cb
\ No newline at end of file