main.cpp

00001 //Project X
00002 // Jordan Kangwijaya, Gabe Collins, Kyle Schaff
00003 
00004 #include "mbed.h"
00005 #include "Servo.h"
00006 #include "Motor.h"
00007 
00008 BusIn Switch(p16,p17,p18,p19);
00009 BusOut LED(p5,p6,p7,p8,p11);
00010 
00011 Motor m(p26,p29,p30);
00012 Servo servo1(p21); //top    .39 to 1.02
00013 Servo servo2(p22); //bottom .38 to .93
00014 
00015 float servopos;
00016 float motorspeed=.35;
00017 int counter=0;
00018 int counter1=0;
00019 
00020 int main()
00021 {
00022     while(1) {
00023 
00024 
00025         while (Switch==1) {
00026 
00027 
00028             for(servopos=.40; servopos<=.60; servopos+=.03) {
00029                 servo1=.7;
00030                 servo2=servopos;
00031                 motorspeed=0;
00032                 m.speed(motorspeed);
00033                 counter=counter+1;
00034                 counter1=counter%20;
00035                 if (counter1==17) {
00036                     LED=rand()%129;
00037                 }
00038                 wait (.1);
00039             }
00040             for(servopos=.60; servopos>=.40; servopos-=.03) {
00041                 servo1=.7;
00042                 servo2=servopos;
00043                 motorspeed=0;
00044                 m.speed(motorspeed);
00045                 counter=counter+1;
00046                 counter1=counter%20;
00047                 if (counter1==17) {
00048                     LED=rand()%129;
00049                 }
00050                 wait (.1);
00051             }
00052         }//Swartzwelder  swartzwe.usna.edu
00053         while(Switch==2) {
00054 
00055 
00056             for(servopos=.40; servopos<=.60; servopos+=.03) {
00057                 servo1=servopos+.2;
00058                 servo2=.5;
00059                 motorspeed=0;
00060                 m.speed(motorspeed);
00061                 counter=counter+1;
00062                 counter1=counter%20;
00063                 if (counter1==17) {
00064                     LED=rand()%129;
00065                 }
00066                 wait (.03);
00067             }
00068             for(servopos=.60; servopos>=.40; servopos-=.03) {
00069                 servo1=servopos+.2;
00070                 servo2=.5;
00071                 motorspeed=0;
00072                 m.speed(motorspeed);
00073                 counter=counter+1;
00074                 counter1=counter%20;
00075                 if (counter1==17) {
00076                     LED=rand()%129;
00077                 }
00078                 wait (.03);
00079             }
00080         }
00081         while(Switch==4) {
00082 
00083             for(servopos=.40; servopos<=.60; servopos+=.03) {
00084                 servo1=servopos+.2;
00085                 servo2=servopos;
00086                 counter=counter+1;
00087                 counter1=counter%20;
00088                 if (counter1==17) {
00089                     LED=rand()%129;
00090                 }
00091                 wait (.02);
00092             }
00093             for(servopos=.60; servopos>=.40; servopos-=.03) {
00094                 servo1=servopos+.2;
00095                 servo2=servopos;
00096                 counter=counter+1;
00097                 counter1=counter%20;
00098                 if (counter1==17) {
00099                     LED=rand()%129;
00100                 }
00101                 wait (.02);
00102             }
00103         }
00104 
00105         while(Switch==8) {
00106             motorspeed=.35;
00107             m.speed(motorspeed);
00108             for(servopos=.40; servopos<=.60; servopos+=.03) {
00109                 servo1=servopos+.2;
00110                 servo2=servopos;
00111                 m.speed(motorspeed);
00112                 counter=counter+1;
00113                 counter1=counter%20;
00114                 if (counter1==17) {
00115                     LED=rand()%129;
00116                 }
00117                 wait (.025);
00118             }
00119             for(servopos=.60; servopos>=.40; servopos-=.03) {
00120                 servo1=servopos+.2;
00121                 servo2=servopos;
00122                 m.speed(motorspeed);
00123                 counter=counter+1;
00124                 counter1=counter%20;
00125                 if (counter1==17) {
00126                     LED=rand()%129;
00127                 }
00128                 wait (.025);
00129             }
00130         }
00131 
00132         while(Switch==0) {
00133             servo1=.7;
00134             servo2=.5;
00135             motorspeed=0;
00136             m.speed(motorspeed);
00137         }
00138     }
00139 }