Diff: main.cpp

Revision:

2:c95e4e33eaee

Parent:

1:33ef833aae0b

Child:

3:b81a3d326aee

--- a/main.cpp	Sun Oct 19 23:57:41 2014 +0000
+++ b/main.cpp	Mon Oct 20 19:24:49 2014 +0000
@@ -9,29 +9,30 @@
 
 BusOut LED(p5,p6,p7,p8,p11);
 
-DigitalOut servo1(p21);
-DigitalOut servo2(p22);
-DigitalOut motor(p29); //Don't know if this is correct
+Motor m(p26,p29,p30);
+Servo servo1(p21);
+Servo servo2(p22);
 
-int sw1=Switch1;
-int sw2=Switch2;
-int sw3=Switch3;
-int sw4=Switch4;
 
-int servopos;
-int servoposition;
-int motorspeed=motor;
+float servopos;
+float motorspeed;
 int counter=0;
 int counter1=0;
 
 int main()
 {
     while (1) {
+        int sw1=Switch1;
+        int sw2=Switch2;
+        int sw3=Switch3;
+        int sw4=Switch4;
+        
         while (sw1==1) {
-            for(servopos=.38; servopos<=.51; servopos+=.005) {
-                servo1=servopos;
+            m.speed(motorspeed);
+            motorspeed=.35;
+            for(servopos=.48; servopos<=.68; servopos+=.005) {
+                servo1=servopos+.07;
                 servo2=servopos;
-                motorspeed=.35;
                 counter=counter+1;
                 counter1=counter%20;
                 if (counter1==17) {
@@ -39,10 +40,9 @@
                 }
                 wait (.01);
             }
-            for(servopos=.51; servopos>=.38; servopos-=.005) {
-                servo1=servopos;
+            for(servopos=.68; servopos>=.48; servopos-=.005) {
+                servo1=servopos+.07;
                 servo2=servopos;
-                motorspeed=.35;
                 counter=counter+1;
                 counter1=counter%20;
                 if (counter1==17) {
@@ -52,75 +52,75 @@
             }
         }
         while(sw2==1) {
-            for(servopos=.38; servopos<=.51; servopos+=.001) {
-                servo1=servopos;
+            m.speed(motorspeed);
+            motorspeed=.41;
+            for(servopos=.48; servopos<=.68; servopos+=.005) {
+                servo1=servopos+.07;
                 servo2=servopos;
-                motorspeed=.41;
                 counter=counter+1;
                 counter1=counter%20;
                 if (counter1==17) {
                     LED=rand()%129;
                 }
-                wait (.003);
+                wait (.009);
             }
-            for(servopos=.51; servopos>=.38; servopos-=.001) {
-                servo1=servopos;
+            for(servopos=.68; servopos>=.48; servopos-=.005) {
+                servo1=servopos+.07;
                 servo2=servopos;
-                motorspeed=.41;
                 counter=counter+1;
                 counter1=counter%20;
                 if (counter1==17) {
                     LED=rand()%129;
                 }
-                wait (.003);
+                wait (.009);
             }
         }
         while(sw3==1) {
-            for(servopos=.38; servopos<=.51; servopos+=.001) {
-                servo1=servopos;
+            m.speed(motorspeed);
+            motorspeed=.47;
+            for(servopos=.48; servopos<=.68; servopos+=.005) {
+                servo1=servopos+.07;
                 servo2=servopos;
-                motorspeed=.47;
                 counter=counter+1;
                 counter1=counter%20;
                 if (counter1==17) {
                     LED=rand()%129;
                 }
-                wait (.002);
+                wait (.008);
             }
-            for(servopos=.51; servopos>=.38; servopos-=.001) {
-                servo1=servopos;
+            for(servopos=.68; servopos>=.48; servopos-=.005) {
+                servo1=servopos+.07;
                 servo2=servopos;
-                motorspeed=.47;
                 counter=counter+1;
                 counter1=counter%20;
                 if (counter1==17) {
                     LED=rand()%129;
                 }
-                wait (.002);
+                wait (.008);
             }
         }
         while(sw4==1) {
-            for(servopos=.38; servopos<=.51; servopos+=.001) {
-                servo1=servopos;
+            m.speed(motorspeed);
+            motorspeed=.77;
+            for(servopos=.48; servopos<=.68; servopos+=.005) {
+                servo1=servopos+.07;
                 servo2=servopos;
-                motorspeed=.77;
                 counter=counter+1;
                 counter1=counter%20;
                 if (counter1==17) {
                     LED=rand()%129;
                 }
-                wait (.001);
+                wait (.005);
             }
-            for(servopos=.51; servopos>=.38; servopos-=.001) {
-                servo1=servopos;
+            for(servopos=.68; servopos>=.48; servopos-=.005) {
+                servo1=servopos+.07;
                 servo2=servopos;
-                motorspeed=.77;
                 counter=counter+1;
                 counter1=counter%20;
                 if (counter1==17) {
                     LED=rand()%129;
                 }
-                wait (.001);
+                wait (.005);
             }
         }