Diff: main.cpp

Revision:

0:68133f5cdfa0

Child:

1:a9852a93d829

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Jul 04 15:52:22 2017 +0000
@@ -0,0 +1,57 @@
+/* MeArm Servo Calibration
+
+(c) Dr Craig A. Evans, University of Leeds
+
+July 2017
+
+*/
+
+#include "mbed.h"
+
+// pins for potentiometers
+AnalogIn m_pot(p17);
+AnalogIn l_pot(p18);
+AnalogIn r_pot(p19);
+AnalogIn c_pot(p20);
+
+// PWM pins for servos
+PwmOut m_servo(p21);
+PwmOut l_servo(p22);
+PwmOut r_servo(p23);
+PwmOut c_servo(p24);
+
+int main()
+{
+
+    m_servo.period_ms(20);  // 20 ms = 50 Hz
+    // all PWM channels share the same period and so only need to set one of them
+
+    // keep looping forever
+    while(1) {
+
+        // read val in range 0.0 to 1.0
+        float m_pot_val = m_pot.read();
+        // create a pulse-width value in range 400 to 3000us
+        int m_pot_pulse_us = int(400.0 + m_pot_val*2600.0);  
+        m_servo.pulsewidth_us(m_pot_pulse_us);
+
+        // repeat for other servos
+        float l_pot_val = l_pot.read();
+        int l_pot_pulse_us = int(600.0 + l_pot_val*2600.0);  
+        l_servo.pulsewidth_us(l_pot_pulse_us);
+
+        float r_pot_val = r_pot.read();
+        int r_pot_pulse_us = int(600.0 + r_pot_val*2600.0); 
+        r_servo.pulsewidth_us(r_pot_pulse_us);
+
+        float c_pot_val = c_pot.read();
+        int c_pot_pulse_us = int(600.0 + c_pot_val*2600.0); 
+        c_servo.pulsewidth_us(c_pot_pulse_us);
+        
+        // print the values to the PC terminal
+        printf("M=%i L=%i R=%i C=%i\n",m_pot_pulse_us,l_pot_pulse_us,r_pot_pulse_us,c_pot_pulse_us);
+
+        // delay as we don't want to update the servos too often
+        wait_ms(200);
+    }
+}