Revision 0:05ddd3ecad81, committed 2009-12-06
- Comitter:
- alex89
- Date:
- Sun Dec 06 12:56:50 2009 +0000
- Commit message:
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.h Sun Dec 06 12:56:50 2009 +0000
@@ -0,0 +1,87 @@
+/* mbed Microcontroller Library - Servo
+ * Copyright (c) 2007-2008, sford
+ */
+
+#ifndef MBED_SERVO_H
+#define MBED_SERVO_H
+
+#include "Servo.h"
+
+#include "mbed.h"
+#include "platform.h"
+
+
+namespace mbed {
+
+/* Class: Servo
+ * Abstraction on top of PwmOut to control the position of a servo motor
+ *
+ * Example:
+ * > // Continuously sweep the servo through it's full range
+ * >
+ * > #include "mbed.h"
+ * > #include "Servo.h"
+ * >
+ * > Servo myServo (p21);
+ * > int main() {
+ * > int i;
+ * > while (1) {
+ * > for (i=0 ; i<100 ; i++){
+ * > myServo = i/100.0;
+ * > wait (0.01);
+ * > }
+ * > for (i=100 ; i>0 ; i--){
+ * > myServo = i/100.0;
+ * > wait (0.01);
+ * > }
+ * > }
+ * >}
+ */
+
+
+class Servo : public Base {
+
+public:
+ /* Constructor: Servo
+ * Create a servo object connected to the specified PwmOut pin
+ *
+ * Variables:
+ * pin - PwmOut pin to connect to
+ */
+ Servo(PinName pin, const char* = NULL);
+
+ /* Function: write
+ * Set the servo position, normalised to it's full range
+ *
+ * Variables:
+ * percent - A normalised number 0.0-1.0 to represent the full range.
+ */
+ void write(float percent);
+ /* Function: read
+ * Read the servo motors current position
+ *
+ * Variables:
+ * returns - A normalised number 0.0-1.0 representing the full range.
+ */
+ float read();
+ /* Function: operator=
+ * Shorthand for the write and read functions
+ */
+ Servo& operator= (float percent);
+ Servo& operator= (Servo& rhs);
+ operator float();
+
+#ifdef MBED_RPC
+ virtual const struct rpc_method *get_rpc_methods();
+ static struct rpc_class *get_rpc_class();
+#endif
+
+protected:
+
+ PwmOut _pwm;
+ float _p;
+};
+
+}
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun Dec 06 12:56:50 2009 +0000
@@ -0,0 +1,175 @@
+#include "mbed.h"
+
+Serial pc(USBTX, USBRX); // debugging
+
+DigitalOut enable(p26); // enable pin
+I2C i2c(p28, p27); // accelerometer
+
+const int address = 0x30;
+
+const int CTRL_REGB = 0x0D;
+const int CTRL_REGC = 0x0C;
+
+const int XOUT_H = 0x00; //x
+const int XOUT_L = 0x01;
+
+const int YOUT_H = 0x02; //y
+const int YOUT_L = 0x03;
+
+const int ZOUT_H = 0x04; //z
+const int ZOUT_L = 0x05;
+
+
+//--------------- IC2 helper functions ---------------
+
+// write value into register regno, return success
+bool write_reg(int regno, int value) {
+
+ char data[2] = {regno, value};
+
+ return i2c.write(address, data, 2) == 0;
+
+}
+
+// read value from register regno, return success
+bool read_reg(int regno, int *value) {
+
+ char data = regno;
+
+ if (i2c.write(address, &data, 1) == 0 && i2c.read(address, &data, 1) == 0){
+ *value = data;
+ return true;
+ }
+ return false;
+
+}
+
+// read complete value of X axis, return it or -1 on failure
+int read_x() {
+
+ int low, high;
+
+ if ( read_reg(XOUT_H, &high) && read_reg(XOUT_L, &low) )
+ return high<<8 | low;
+ else
+ return -1;
+}
+
+// read complete value of Y axis, return it or -1 on failure
+int read_y() {
+
+ int low, high;
+
+ if ( read_reg(YOUT_H, &high) && read_reg(YOUT_L, &low) )
+ return high<<8 | low;
+ else
+ return -1;
+}
+
+// read complete value of Z axis, return it or -1 on failure
+int read_z() {
+
+ int low, high;
+
+ if ( read_reg(ZOUT_H, &high) && read_reg(ZOUT_L, &low) )
+ return high<<8 | low;
+ else
+ return -1;
+}
+
+void accData(){
+
+ enable = 1;
+
+ write_reg(CTRL_REGB, 0xC2);
+ write_reg(CTRL_REGC, 0x00);
+
+ for (int i = 0; i < 1000; i++){
+
+ printf("%d,%d,%d \n", read_x(), read_y(), read_z());
+
+ wait(0.05);
+
+ }
+
+ enable = 0;
+
+}
+
+void accLEDs(){
+
+ DigitalOut x0(p20); //red
+ DigitalOut x1(p19); //green
+ DigitalOut x2(p16); //green
+ DigitalOut x3(p15); //green
+ DigitalOut x4(p13); //green
+ DigitalOut x5(p11); //red
+
+ enable = 1;
+
+ write_reg(CTRL_REGB, 0xC2); //start
+ write_reg(CTRL_REGC, 0x00);
+
+ for (int i = 0; i < 1000; i++){
+
+ double x = double (read_x() - 32768)/9000; //normalise to around 0g/1g
+ double y = double (read_y() - 32768)/9000;
+ double z = double (read_z() - 32768)/9000;
+
+ //pc.printf("%.2f, %.2f, %.2f \n", x, y, z);
+ //pc.printf("%.2f \n", x);
+
+ x0 = 0; x1 = 0; x2 = 0; x3 = 0; x4 = 0; x5 = 0;
+
+ int intx = (x+0.1)*5; //scale to an integer from 0 to 5
+
+ pc.printf("%d \n", intx);
+
+ switch (intx) {
+
+ case 0:
+ x0 = 1;
+ break;
+ case 1:
+ x1 = 1;
+ break;
+ case 2:
+ x2 = 1;
+ break;
+ case 3:
+ x3 = 1;
+ break;
+ case 4:
+ x4 = 1;
+ break;
+ case 5:
+ x5 = 1;
+ break;
+
+ default:
+ break;
+ }
+
+ wait(0.1);
+
+ }
+
+ x0 = 0; x1 = 0; x2 = 0; x3 = 0; x4 = 0; x5 = 0;
+
+ enable = 0;
+
+}
+
+
+//-------------------- Main -------------------
+
+int main() {
+
+ pc.printf("Program started\n");
+
+ //accData();
+
+ accLEDs();
+
+ pc.printf("Program complete\n\n");
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld Sun Dec 06 12:56:50 2009 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/32af5db564d4
Alex Louden