Skip to content

allow choice of servo ports in case one is broken on the Wombat #1

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
ensko wants to merge 1 commit into
base: main
Choose a base branch
from
Open

allow choice of servo ports in case one is broken on the Wombat #1

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
20 changes: 13 additions & 7 deletions 2025 Starting Lights.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,8 +16,10 @@
#define SERVO_DROPPER_OPEN 600
#define RUN_TIME 120
#define SENSOR_CHECK_COUNT 10
#define SERVO_A_PORT 0
#define SERVO_B_PORT 3
#define SERVO_A_PORT1 0
#define SERVO_A_PORT2 1
#define SERVO_B_PORT1 2
#define SERVO_B_PORT2 3
#define SENSOR_A_PORT 0
#define SENSOR_B_PORT 5
#define SENSOR_TRIGGER_MARGIN 100
Expand Down Expand Up @@ -50,8 +52,10 @@ int main()
// Sets any plugged in servos
void set_all_servos()
{
set_servo_position(SERVO_A_PORT, SERVO_DROPPER_CLOSED);
set_servo_position(SERVO_B_PORT, SERVO_DROPPER_CLOSED);
set_servo_position(SERVO_A_PORT1, SERVO_DROPPER_CLOSED);
set_servo_position(SERVO_A_PORT2, SERVO_DROPPER_CLOSED);
set_servo_position(SERVO_B_PORT1, SERVO_DROPPER_CLOSED);
set_servo_position(SERVO_B_PORT2, SERVO_DROPPER_CLOSED);
}

// Turns on any plugged in lights
Expand Down Expand Up @@ -254,7 +258,7 @@ void checklist()
{
printf("Checklist for starting lights:\n");
printf("- Lights plugged into any motor port.\n");
printf("- Dropper servos plugged into servo port %d and %d.\n", SERVO_A_PORT, SERVO_B_PORT);
printf("- Dropper servos plugged into servo port %d/%d and %d/%d.\n", SERVO_A_PORT1, SERVO_A_PORT2, SERVO_B_PORT1, SERVO_B_PORT2);
printf("- Rangefinders plugged into analog ports %d and %d.\n", SENSOR_A_PORT, SENSOR_B_PORT);
msleep(2000);
printf("Press grey push button to proceed.\n");
Expand Down Expand Up @@ -365,15 +369,17 @@ void run()
read_sensor(rangefinderA, SENSOR_A_PORT);
if (sensor_triggered(sensor_avg(rangefinderA), rangefinder_A_calibration, SENSOR_A_PORT))
{
set_servo_position(SERVO_A_PORT, SERVO_DROPPER_OPEN);
set_servo_position(SERVO_A_PORT1, SERVO_DROPPER_OPEN);
set_servo_position(SERVO_A_PORT2, SERVO_DROPPER_OPEN);
triggered_A = true;
}
}
if(!triggered_B) {
read_sensor(rangefinderB, SENSOR_B_PORT);
if (sensor_triggered(sensor_avg(rangefinderB), rangefinder_B_calibration, SENSOR_B_PORT))
{
set_servo_position(SERVO_B_PORT, SERVO_DROPPER_OPEN);
set_servo_position(SERVO_B_PORT1, SERVO_DROPPER_OPEN);
set_servo_position(SERVO_B_PORT2, SERVO_DROPPER_OPEN);
triggered_B = true;
}
}
Expand Down