sunday code for project. needs slight revision.
Dependencies: Motor Servo22oct mbed
main.cpp@1:33ef833aae0b, 2014-10-19 (annotated)
- Committer:
- KyleSchaff
- Date:
- Sun Oct 19 23:57:41 2014 +0000
- Revision:
- 1:33ef833aae0b
- Parent:
- 0:db9e971c8ba6
- Child:
- 2:c95e4e33eaee
smore projectocode
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
KyleSchaff | 0:db9e971c8ba6 | 1 | #include "mbed.h" |
KyleSchaff | 0:db9e971c8ba6 | 2 | #include "Servo.h" |
KyleSchaff | 0:db9e971c8ba6 | 3 | #include "Motor.h" |
KyleSchaff | 0:db9e971c8ba6 | 4 | |
KyleSchaff | 0:db9e971c8ba6 | 5 | DigitalIn Switch1(p16); |
KyleSchaff | 0:db9e971c8ba6 | 6 | DigitalIn Switch2(p17); |
KyleSchaff | 0:db9e971c8ba6 | 7 | DigitalIn Switch3(p18); |
KyleSchaff | 0:db9e971c8ba6 | 8 | DigitalIn Switch4(p19); |
KyleSchaff | 0:db9e971c8ba6 | 9 | |
KyleSchaff | 0:db9e971c8ba6 | 10 | BusOut LED(p5,p6,p7,p8,p11); |
KyleSchaff | 0:db9e971c8ba6 | 11 | |
KyleSchaff | 0:db9e971c8ba6 | 12 | DigitalOut servo1(p21); |
KyleSchaff | 0:db9e971c8ba6 | 13 | DigitalOut servo2(p22); |
KyleSchaff | 0:db9e971c8ba6 | 14 | DigitalOut motor(p29); //Don't know if this is correct |
KyleSchaff | 0:db9e971c8ba6 | 15 | |
KyleSchaff | 0:db9e971c8ba6 | 16 | int sw1=Switch1; |
KyleSchaff | 0:db9e971c8ba6 | 17 | int sw2=Switch2; |
KyleSchaff | 0:db9e971c8ba6 | 18 | int sw3=Switch3; |
KyleSchaff | 0:db9e971c8ba6 | 19 | int sw4=Switch4; |
KyleSchaff | 0:db9e971c8ba6 | 20 | |
KyleSchaff | 0:db9e971c8ba6 | 21 | int servopos; |
KyleSchaff | 0:db9e971c8ba6 | 22 | int servoposition; |
KyleSchaff | 0:db9e971c8ba6 | 23 | int motorspeed=motor; |
KyleSchaff | 0:db9e971c8ba6 | 24 | int counter=0; |
KyleSchaff | 0:db9e971c8ba6 | 25 | int counter1=0; |
KyleSchaff | 0:db9e971c8ba6 | 26 | |
KyleSchaff | 0:db9e971c8ba6 | 27 | int main() |
KyleSchaff | 0:db9e971c8ba6 | 28 | { |
KyleSchaff | 0:db9e971c8ba6 | 29 | while (1) { |
KyleSchaff | 0:db9e971c8ba6 | 30 | while (sw1==1) { |
KyleSchaff | 1:33ef833aae0b | 31 | for(servopos=.38; servopos<=.51; servopos+=.005) { |
KyleSchaff | 0:db9e971c8ba6 | 32 | servo1=servopos; |
KyleSchaff | 0:db9e971c8ba6 | 33 | servo2=servopos; |
KyleSchaff | 0:db9e971c8ba6 | 34 | motorspeed=.35; |
KyleSchaff | 0:db9e971c8ba6 | 35 | counter=counter+1; |
KyleSchaff | 0:db9e971c8ba6 | 36 | counter1=counter%20; |
KyleSchaff | 0:db9e971c8ba6 | 37 | if (counter1==17) { |
KyleSchaff | 0:db9e971c8ba6 | 38 | LED=rand()%129; |
KyleSchaff | 0:db9e971c8ba6 | 39 | } |
KyleSchaff | 1:33ef833aae0b | 40 | wait (.01); |
KyleSchaff | 0:db9e971c8ba6 | 41 | } |
KyleSchaff | 1:33ef833aae0b | 42 | for(servopos=.51; servopos>=.38; servopos-=.005) { |
KyleSchaff | 1:33ef833aae0b | 43 | servo1=servopos; |
KyleSchaff | 1:33ef833aae0b | 44 | servo2=servopos; |
KyleSchaff | 1:33ef833aae0b | 45 | motorspeed=.35; |
KyleSchaff | 1:33ef833aae0b | 46 | counter=counter+1; |
KyleSchaff | 1:33ef833aae0b | 47 | counter1=counter%20; |
KyleSchaff | 1:33ef833aae0b | 48 | if (counter1==17) { |
KyleSchaff | 1:33ef833aae0b | 49 | LED=rand()%129; |
KyleSchaff | 1:33ef833aae0b | 50 | } |
KyleSchaff | 1:33ef833aae0b | 51 | wait (.01); |
KyleSchaff | 1:33ef833aae0b | 52 | } |
KyleSchaff | 0:db9e971c8ba6 | 53 | } |
KyleSchaff | 0:db9e971c8ba6 | 54 | while(sw2==1) { |
KyleSchaff | 0:db9e971c8ba6 | 55 | for(servopos=.38; servopos<=.51; servopos+=.001) { |
KyleSchaff | 0:db9e971c8ba6 | 56 | servo1=servopos; |
KyleSchaff | 0:db9e971c8ba6 | 57 | servo2=servopos; |
KyleSchaff | 0:db9e971c8ba6 | 58 | motorspeed=.41; |
KyleSchaff | 0:db9e971c8ba6 | 59 | counter=counter+1; |
KyleSchaff | 0:db9e971c8ba6 | 60 | counter1=counter%20; |
KyleSchaff | 0:db9e971c8ba6 | 61 | if (counter1==17) { |
KyleSchaff | 0:db9e971c8ba6 | 62 | LED=rand()%129; |
KyleSchaff | 0:db9e971c8ba6 | 63 | } |
KyleSchaff | 0:db9e971c8ba6 | 64 | wait (.003); |
KyleSchaff | 0:db9e971c8ba6 | 65 | } |
KyleSchaff | 1:33ef833aae0b | 66 | for(servopos=.51; servopos>=.38; servopos-=.001) { |
KyleSchaff | 1:33ef833aae0b | 67 | servo1=servopos; |
KyleSchaff | 1:33ef833aae0b | 68 | servo2=servopos; |
KyleSchaff | 1:33ef833aae0b | 69 | motorspeed=.41; |
KyleSchaff | 1:33ef833aae0b | 70 | counter=counter+1; |
KyleSchaff | 1:33ef833aae0b | 71 | counter1=counter%20; |
KyleSchaff | 1:33ef833aae0b | 72 | if (counter1==17) { |
KyleSchaff | 1:33ef833aae0b | 73 | LED=rand()%129; |
KyleSchaff | 1:33ef833aae0b | 74 | } |
KyleSchaff | 1:33ef833aae0b | 75 | wait (.003); |
KyleSchaff | 1:33ef833aae0b | 76 | } |
KyleSchaff | 0:db9e971c8ba6 | 77 | } |
KyleSchaff | 0:db9e971c8ba6 | 78 | while(sw3==1) { |
KyleSchaff | 0:db9e971c8ba6 | 79 | for(servopos=.38; servopos<=.51; servopos+=.001) { |
KyleSchaff | 0:db9e971c8ba6 | 80 | servo1=servopos; |
KyleSchaff | 0:db9e971c8ba6 | 81 | servo2=servopos; |
KyleSchaff | 0:db9e971c8ba6 | 82 | motorspeed=.47; |
KyleSchaff | 0:db9e971c8ba6 | 83 | counter=counter+1; |
KyleSchaff | 0:db9e971c8ba6 | 84 | counter1=counter%20; |
KyleSchaff | 0:db9e971c8ba6 | 85 | if (counter1==17) { |
KyleSchaff | 0:db9e971c8ba6 | 86 | LED=rand()%129; |
KyleSchaff | 0:db9e971c8ba6 | 87 | } |
KyleSchaff | 0:db9e971c8ba6 | 88 | wait (.002); |
KyleSchaff | 0:db9e971c8ba6 | 89 | } |
KyleSchaff | 1:33ef833aae0b | 90 | for(servopos=.51; servopos>=.38; servopos-=.001) { |
KyleSchaff | 1:33ef833aae0b | 91 | servo1=servopos; |
KyleSchaff | 1:33ef833aae0b | 92 | servo2=servopos; |
KyleSchaff | 1:33ef833aae0b | 93 | motorspeed=.47; |
KyleSchaff | 1:33ef833aae0b | 94 | counter=counter+1; |
KyleSchaff | 1:33ef833aae0b | 95 | counter1=counter%20; |
KyleSchaff | 1:33ef833aae0b | 96 | if (counter1==17) { |
KyleSchaff | 1:33ef833aae0b | 97 | LED=rand()%129; |
KyleSchaff | 1:33ef833aae0b | 98 | } |
KyleSchaff | 1:33ef833aae0b | 99 | wait (.002); |
KyleSchaff | 1:33ef833aae0b | 100 | } |
KyleSchaff | 0:db9e971c8ba6 | 101 | } |
KyleSchaff | 0:db9e971c8ba6 | 102 | while(sw4==1) { |
KyleSchaff | 0:db9e971c8ba6 | 103 | for(servopos=.38; servopos<=.51; servopos+=.001) { |
KyleSchaff | 0:db9e971c8ba6 | 104 | servo1=servopos; |
KyleSchaff | 0:db9e971c8ba6 | 105 | servo2=servopos; |
KyleSchaff | 0:db9e971c8ba6 | 106 | motorspeed=.77; |
KyleSchaff | 0:db9e971c8ba6 | 107 | counter=counter+1; |
KyleSchaff | 0:db9e971c8ba6 | 108 | counter1=counter%20; |
KyleSchaff | 0:db9e971c8ba6 | 109 | if (counter1==17) { |
KyleSchaff | 0:db9e971c8ba6 | 110 | LED=rand()%129; |
KyleSchaff | 0:db9e971c8ba6 | 111 | } |
KyleSchaff | 0:db9e971c8ba6 | 112 | wait (.001); |
KyleSchaff | 0:db9e971c8ba6 | 113 | } |
KyleSchaff | 1:33ef833aae0b | 114 | for(servopos=.51; servopos>=.38; servopos-=.001) { |
KyleSchaff | 0:db9e971c8ba6 | 115 | servo1=servopos; |
KyleSchaff | 0:db9e971c8ba6 | 116 | servo2=servopos; |
KyleSchaff | 0:db9e971c8ba6 | 117 | motorspeed=.77; |
KyleSchaff | 0:db9e971c8ba6 | 118 | counter=counter+1; |
KyleSchaff | 0:db9e971c8ba6 | 119 | counter1=counter%20; |
KyleSchaff | 0:db9e971c8ba6 | 120 | if (counter1==17) { |
KyleSchaff | 0:db9e971c8ba6 | 121 | LED=rand()%129; |
KyleSchaff | 0:db9e971c8ba6 | 122 | } |
KyleSchaff | 0:db9e971c8ba6 | 123 | wait (.001); |
KyleSchaff | 0:db9e971c8ba6 | 124 | } |
KyleSchaff | 0:db9e971c8ba6 | 125 | } |
KyleSchaff | 0:db9e971c8ba6 | 126 | |
KyleSchaff | 0:db9e971c8ba6 | 127 | } |
KyleSchaff | 0:db9e971c8ba6 | 128 | } |