sunday code for project. needs slight revision.
Dependencies: Motor Servo22oct mbed
main.cpp@5:a7c0a09a7c58, 2014-10-23 (annotated)
- Committer:
- alphasig
- Date:
- Thu Oct 23 17:49:36 2014 +0000
- Revision:
- 5:a7c0a09a7c58
- Parent:
- 4:4b093f9bd41c
project day changes, upped motspeed
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
alphasig | 5:a7c0a09a7c58 | 1 | //Project X |
alphasig | 5:a7c0a09a7c58 | 2 | // Jordan Kangwijaya, Gabe Collins, Kyle Schaff |
alphasig | 5:a7c0a09a7c58 | 3 | |
KyleSchaff | 0:db9e971c8ba6 | 4 | #include "mbed.h" |
KyleSchaff | 0:db9e971c8ba6 | 5 | #include "Servo.h" |
KyleSchaff | 0:db9e971c8ba6 | 6 | #include "Motor.h" |
KyleSchaff | 0:db9e971c8ba6 | 7 | |
jkangwi | 3:b81a3d326aee | 8 | BusIn Switch(p16,p17,p18,p19); |
KyleSchaff | 0:db9e971c8ba6 | 9 | BusOut LED(p5,p6,p7,p8,p11); |
KyleSchaff | 0:db9e971c8ba6 | 10 | |
KyleSchaff | 2:c95e4e33eaee | 11 | Motor m(p26,p29,p30); |
jkangwi | 3:b81a3d326aee | 12 | Servo servo1(p21); //top .39 to 1.02 |
jkangwi | 3:b81a3d326aee | 13 | Servo servo2(p22); //bottom .38 to .93 |
KyleSchaff | 0:db9e971c8ba6 | 14 | |
KyleSchaff | 2:c95e4e33eaee | 15 | float servopos; |
alphasig | 5:a7c0a09a7c58 | 16 | float motorspeed=.35; |
KyleSchaff | 0:db9e971c8ba6 | 17 | int counter=0; |
KyleSchaff | 0:db9e971c8ba6 | 18 | int counter1=0; |
KyleSchaff | 0:db9e971c8ba6 | 19 | |
KyleSchaff | 0:db9e971c8ba6 | 20 | int main() |
KyleSchaff | 0:db9e971c8ba6 | 21 | { |
jkangwi | 3:b81a3d326aee | 22 | while(1) { |
jkangwi | 3:b81a3d326aee | 23 | |
jkangwi | 3:b81a3d326aee | 24 | |
jkangwi | 3:b81a3d326aee | 25 | while (Switch==1) { |
jkangwi | 3:b81a3d326aee | 26 | |
jkangwi | 3:b81a3d326aee | 27 | |
alphasig | 4:4b093f9bd41c | 28 | for(servopos=.40; servopos<=.60; servopos+=.03) { |
alphasig | 4:4b093f9bd41c | 29 | servo1=.7; |
KyleSchaff | 0:db9e971c8ba6 | 30 | servo2=servopos; |
alphasig | 4:4b093f9bd41c | 31 | motorspeed=0; |
alphasig | 4:4b093f9bd41c | 32 | m.speed(motorspeed); |
KyleSchaff | 0:db9e971c8ba6 | 33 | counter=counter+1; |
KyleSchaff | 0:db9e971c8ba6 | 34 | counter1=counter%20; |
KyleSchaff | 0:db9e971c8ba6 | 35 | if (counter1==17) { |
KyleSchaff | 0:db9e971c8ba6 | 36 | LED=rand()%129; |
KyleSchaff | 0:db9e971c8ba6 | 37 | } |
jkangwi | 3:b81a3d326aee | 38 | wait (.1); |
KyleSchaff | 0:db9e971c8ba6 | 39 | } |
alphasig | 4:4b093f9bd41c | 40 | for(servopos=.60; servopos>=.40; servopos-=.03) { |
alphasig | 4:4b093f9bd41c | 41 | servo1=.7; |
KyleSchaff | 1:33ef833aae0b | 42 | servo2=servopos; |
alphasig | 4:4b093f9bd41c | 43 | motorspeed=0; |
alphasig | 4:4b093f9bd41c | 44 | m.speed(motorspeed); |
KyleSchaff | 1:33ef833aae0b | 45 | counter=counter+1; |
KyleSchaff | 1:33ef833aae0b | 46 | counter1=counter%20; |
KyleSchaff | 1:33ef833aae0b | 47 | if (counter1==17) { |
KyleSchaff | 1:33ef833aae0b | 48 | LED=rand()%129; |
KyleSchaff | 1:33ef833aae0b | 49 | } |
jkangwi | 3:b81a3d326aee | 50 | wait (.1); |
KyleSchaff | 1:33ef833aae0b | 51 | } |
alphasig | 4:4b093f9bd41c | 52 | }//Swartzwelder swartzwe.usna.edu |
jkangwi | 3:b81a3d326aee | 53 | while(Switch==2) { |
jkangwi | 3:b81a3d326aee | 54 | |
jkangwi | 3:b81a3d326aee | 55 | |
alphasig | 4:4b093f9bd41c | 56 | for(servopos=.40; servopos<=.60; servopos+=.03) { |
alphasig | 4:4b093f9bd41c | 57 | servo1=servopos+.2; |
alphasig | 4:4b093f9bd41c | 58 | servo2=.5; |
alphasig | 4:4b093f9bd41c | 59 | motorspeed=0; |
alphasig | 4:4b093f9bd41c | 60 | m.speed(motorspeed); |
KyleSchaff | 0:db9e971c8ba6 | 61 | counter=counter+1; |
KyleSchaff | 0:db9e971c8ba6 | 62 | counter1=counter%20; |
KyleSchaff | 0:db9e971c8ba6 | 63 | if (counter1==17) { |
KyleSchaff | 0:db9e971c8ba6 | 64 | LED=rand()%129; |
KyleSchaff | 0:db9e971c8ba6 | 65 | } |
jkangwi | 3:b81a3d326aee | 66 | wait (.03); |
KyleSchaff | 0:db9e971c8ba6 | 67 | } |
alphasig | 4:4b093f9bd41c | 68 | for(servopos=.60; servopos>=.40; servopos-=.03) { |
alphasig | 4:4b093f9bd41c | 69 | servo1=servopos+.2; |
alphasig | 4:4b093f9bd41c | 70 | servo2=.5; |
alphasig | 4:4b093f9bd41c | 71 | motorspeed=0; |
alphasig | 4:4b093f9bd41c | 72 | m.speed(motorspeed); |
KyleSchaff | 1:33ef833aae0b | 73 | counter=counter+1; |
KyleSchaff | 1:33ef833aae0b | 74 | counter1=counter%20; |
KyleSchaff | 1:33ef833aae0b | 75 | if (counter1==17) { |
KyleSchaff | 1:33ef833aae0b | 76 | LED=rand()%129; |
KyleSchaff | 1:33ef833aae0b | 77 | } |
jkangwi | 3:b81a3d326aee | 78 | wait (.03); |
KyleSchaff | 1:33ef833aae0b | 79 | } |
KyleSchaff | 0:db9e971c8ba6 | 80 | } |
jkangwi | 3:b81a3d326aee | 81 | while(Switch==4) { |
jkangwi | 3:b81a3d326aee | 82 | |
alphasig | 4:4b093f9bd41c | 83 | for(servopos=.40; servopos<=.60; servopos+=.03) { |
alphasig | 4:4b093f9bd41c | 84 | servo1=servopos+.2; |
alphasig | 4:4b093f9bd41c | 85 | servo2=servopos; |
alphasig | 4:4b093f9bd41c | 86 | counter=counter+1; |
alphasig | 4:4b093f9bd41c | 87 | counter1=counter%20; |
alphasig | 4:4b093f9bd41c | 88 | if (counter1==17) { |
alphasig | 4:4b093f9bd41c | 89 | LED=rand()%129; |
alphasig | 4:4b093f9bd41c | 90 | } |
alphasig | 4:4b093f9bd41c | 91 | wait (.02); |
alphasig | 4:4b093f9bd41c | 92 | } |
alphasig | 4:4b093f9bd41c | 93 | for(servopos=.60; servopos>=.40; servopos-=.03) { |
alphasig | 4:4b093f9bd41c | 94 | servo1=servopos+.2; |
alphasig | 4:4b093f9bd41c | 95 | servo2=servopos; |
alphasig | 4:4b093f9bd41c | 96 | counter=counter+1; |
alphasig | 4:4b093f9bd41c | 97 | counter1=counter%20; |
alphasig | 4:4b093f9bd41c | 98 | if (counter1==17) { |
alphasig | 4:4b093f9bd41c | 99 | LED=rand()%129; |
alphasig | 4:4b093f9bd41c | 100 | } |
alphasig | 4:4b093f9bd41c | 101 | wait (.02); |
alphasig | 4:4b093f9bd41c | 102 | } |
alphasig | 4:4b093f9bd41c | 103 | } |
jkangwi | 3:b81a3d326aee | 104 | |
alphasig | 4:4b093f9bd41c | 105 | while(Switch==8) { |
alphasig | 5:a7c0a09a7c58 | 106 | motorspeed=.35; |
alphasig | 4:4b093f9bd41c | 107 | m.speed(motorspeed); |
alphasig | 4:4b093f9bd41c | 108 | for(servopos=.40; servopos<=.60; servopos+=.03) { |
alphasig | 4:4b093f9bd41c | 109 | servo1=servopos+.2; |
KyleSchaff | 0:db9e971c8ba6 | 110 | servo2=servopos; |
alphasig | 4:4b093f9bd41c | 111 | m.speed(motorspeed); |
KyleSchaff | 0:db9e971c8ba6 | 112 | counter=counter+1; |
KyleSchaff | 0:db9e971c8ba6 | 113 | counter1=counter%20; |
KyleSchaff | 0:db9e971c8ba6 | 114 | if (counter1==17) { |
KyleSchaff | 0:db9e971c8ba6 | 115 | LED=rand()%129; |
KyleSchaff | 0:db9e971c8ba6 | 116 | } |
jkangwi | 3:b81a3d326aee | 117 | wait (.025); |
KyleSchaff | 0:db9e971c8ba6 | 118 | } |
alphasig | 4:4b093f9bd41c | 119 | for(servopos=.60; servopos>=.40; servopos-=.03) { |
alphasig | 4:4b093f9bd41c | 120 | servo1=servopos+.2; |
KyleSchaff | 1:33ef833aae0b | 121 | servo2=servopos; |
alphasig | 4:4b093f9bd41c | 122 | m.speed(motorspeed); |
KyleSchaff | 1:33ef833aae0b | 123 | counter=counter+1; |
KyleSchaff | 1:33ef833aae0b | 124 | counter1=counter%20; |
KyleSchaff | 1:33ef833aae0b | 125 | if (counter1==17) { |
KyleSchaff | 1:33ef833aae0b | 126 | LED=rand()%129; |
KyleSchaff | 1:33ef833aae0b | 127 | } |
jkangwi | 3:b81a3d326aee | 128 | wait (.025); |
KyleSchaff | 1:33ef833aae0b | 129 | } |
KyleSchaff | 0:db9e971c8ba6 | 130 | } |
alphasig | 4:4b093f9bd41c | 131 | |
alphasig | 4:4b093f9bd41c | 132 | while(Switch==0) { |
alphasig | 4:4b093f9bd41c | 133 | servo1=.7; |
alphasig | 4:4b093f9bd41c | 134 | servo2=.5; |
alphasig | 4:4b093f9bd41c | 135 | motorspeed=0; |
KyleSchaff | 2:c95e4e33eaee | 136 | m.speed(motorspeed); |
KyleSchaff | 0:db9e971c8ba6 | 137 | } |
KyleSchaff | 0:db9e971c8ba6 | 138 | } |
KyleSchaff | 0:db9e971c8ba6 | 139 | } |