James Hilder / Mbed 2 deprecated PR_QuickServoDemo

Very simple program to demonstrate MX-28 servo; turns from -90 to +90 degrees and back.

Dependencies:   mbed

Fork of PR_RobotArmSetup by James Hilder

main.cpp@1:311dbbc3aaa3, 2017-02-16 (annotated)

Committer:
jah128
Date:
Thu Feb 16 21:21:09 2017 +0000
Revision:
1:311dbbc3aaa3
Parent:
0:03f84c95f73b 
Initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 1:311dbbc3aaa3 1 // Dynamixel MX-28 Demo Code
jah128 0:03f84c95f73b 2
jah128 0:03f84c95f73b 3 #include "servo.h"
jah128 0:03f84c95f73b 4 #include "mbed.h"
jah128 0:03f84c95f73b 5 #include "SerialHalfDuplex.h"
jah128 0:03f84c95f73b 6
jah128 0:03f84c95f73b 7 Serial pc(USBTX,USBRX);
jah128 0:03f84c95f73b 8 Servo servo(p9,p10);
jah128 0:03f84c95f73b 9
jah128 0:03f84c95f73b 10 int main()
jah128 0:03f84c95f73b 11 {
jah128 0:03f84c95f73b 12 pc.baud(115200);
jah128 1:311dbbc3aaa3 13 pc.printf("Dynamixel MX-28 Servo Demo\n");
jah128 1:311dbbc3aaa3 14 int model = servo.GetModelNumber(1);
jah128 1:311dbbc3aaa3 15 if(model != MX28_MODEL) {
jah128 1:311dbbc3aaa3 16 pc.printf("Error: No MX-28 servo with ID 1 found...\n");
jah128 1:311dbbc3aaa3 17 while(1);
jah128 1:311dbbc3aaa3 18 }
jah128 1:311dbbc3aaa3 19 while(1){
jah128 1:311dbbc3aaa3 20 pc.printf("Set servo position to 1024");
jah128 1:311dbbc3aaa3 21 servo.SetGoal(1,1024,1);
jah128 1:311dbbc3aaa3 22 wait(1);
jah128 1:311dbbc3aaa3 23 pc.printf("Set servo position to 2048");
jah128 1:311dbbc3aaa3 24 servo.SetGoal(1,2048,1);
jah128 1:311dbbc3aaa3 25 wait(1);
jah128 1:311dbbc3aaa3 26 pc.printf("Set servo position to 3072");
jah128 1:311dbbc3aaa3 27 servo.SetGoal(1,3072,1);
jah128 1:311dbbc3aaa3 28 wait(1);
jah128 1:311dbbc3aaa3 29 pc.printf("Set servo position to 2048");
jah128 1:311dbbc3aaa3 30 servo.SetGoal(1,2048,1);
jah128 1:311dbbc3aaa3 31 wait(1);
jah128 1:311dbbc3aaa3 32 }
jah128 1:311dbbc3aaa3 33 }