void
Drive(int sv1, int sv2, int sv3)
{
Servo(1, sv1);
Servo(2, sv2);
Servo(3, sv3);
}
void init_motors(void) {
Serial.println("INITIALIZING MOTORS");
//Allocate memory for the motors
for(int i = 0; i < NUM_MOTORS; i++) {
motors.numbered[i] = (motor_t*)malloc(sizeof(motor_t));
motors.numbered[i]->esc = Servo();
}
//Assign pin numbers
motors.named.back_left->pin = 9;
motors.named.back_right->pin = 10;
motors.named.front_left->pin = 11;
motors.named.front_right->pin = 6;
for(int i = 0; i < NUM_MOTORS; i++) {
//Attach servo objects for the speed controllers
motors.numbered[i]->esc.attach(motors.numbered[i]->pin);
Serial.print("Pin ");
Serial.print(motors.numbered[i]->pin);
Serial.println(" attached");
//Write initial value to motor
write_motor(motors.numbered[i], 20);
}
}
Victor(int p)
{
pin = p;
controller = Servo();
goal = 1500;
cur = goal;
}
int main (int argc, char *argv[])
{
char buf[4];
if(argc == 2){
InitServer(atoi(argv[1]));
} else {
printf("not enough argument.\nusage: sudo ./a.out <port number>\n\n");
exit(1);
}
if (wiringPiSetup () == -1) exit (1) ;
pinMode (0, OUTPUT);
digitalWrite (0, LOW) ;
int pin = 0; //GPIO 17
if (softPwmCreate(0,0,200) != 0){
fprintf (stdout, "oops: %s\n", strerror (errno)) ;
return 1 ;
}
while(1){
while((n = read(sock,buf,4)) > 0){
Servo(pin, buf);
}
}
return 1;
}
int main(int argc, char *argv[])
{
Servo servos[4] = {
Servo(1),
Servo(2),
Servo(3),
Servo(4)
};
for(unsigned char i = 0; i < 4; ++i) servos[i].setPosition(512);
struct timeval tv;
for(;;) {
gettimeofday(&tv, NULL);
float secs = (tv.tv_sec * 1000 + tv.tv_usec / 1000) / 1000.0f;
printf("secs: %f", secs);
unsigned int ticks = sin(secs) * 400 + 512;
printf("\ttick: %u\n", ticks);
for(unsigned char i = 0; i < 4; ++i) servos[i].setPosition(ticks);
publish();
printf("pos 0: %d\n", servos[0].position());
}
}
//Constructor
SabertoothPWM::SabertoothPWM()
{
this->motorOne = Servo();
this->motorTwo = Servo();
}
#include <XBeeLib.h>
#include <radio.h>
#include "servo.h"
#include "pin_map.h"
#define PAINT_NEUTRAL 0.5
#define PAINT_SPRAY -0.5
#define PAINT_TIME 0.7
Serial *log_serial;
Servo paint_heads[SERVO_COUNT] = {
Servo(PTD2, 2000),
Servo(PTD0, 2000),
Servo(PTC4, 2000),
Servo(PTA0, 2000),
};
int main()
{
log_serial = new Serial(DEBUG_TX, DEBUG_RX);
log_serial->baud(9600);
DigitalIn sw2(SW2);
DigitalIn sw3(SW3);
for (int i = 0; i < SERVO_COUNT; i++) {
paint_heads[i] = PAINT_NEUTRAL;
}
Claw::Claw(PWM pwm_in) {
claw_servo = Servo(pwm_in, CLAW, PWM4);
}
