#include "mbed.h" PwmOut DCPwm(PB_7); //PWM output for Lane Closer DigitalOut DCFwd(PA_5); //FWD dir control DigitalOut DCRev(PA_4); //REV dir control PwmOut Servo(PA_0); //PWM output for Boom Gate DigitalIn SW0(PB_12); //SW0 pin for Boom Gate Entrance sensor DigitalIn SW1(PB_13); //SW1 pin for Boom Gate Exit sensor DigitalIn SW7(PC_12); //SW7 pin for Lane Closer sensor DigitalIn SW6(PC_9); //SW6 pin for Height sensor int main() { int truckFlag = 0; DCPwm.period(0.01); //DC Motor PWM Freq =100Hz (10mS) Servo.period(0.02); //Servo PWM Freq = 50Hz (20mS) Servo.pulsewidth_us(1472); //default position is 90' while(1) { //control the boom gate if((SW0 == 0) && (SW1 == 1)) { Servo.pulsewidth_us(2400); //turn to 180' } else if((SW0 == 1) && (SW1 == 0)) { Servo.pulsewidth_us(1472); //turn to 90' } //control the lane closer if(SW7 == 0) { while(SW7 == 0) { if(SW6 == 0) truckFlag = 1; else truckFlag = 0; } if(truckFlag == 1) { DCPwm = 1.0; //100% speed DCFwd = 1; //turn motor CW DCRev = 0; wait(2.0); //turn for 2sec DCFwd = 1; //stop motor DCRev = 1; wait(6.0); //wait for 6sec DCPwm = 0.5; //50% speed DCFwd = 0; //turn motor CCW DCRev = 1; wait(4.0); //turn for 4sec DCFwd = 1; //stop motor DCRev = 1; } } } }