![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
buttons.cpp@39:41635b1b11de, 2015-10-08 (annotated)
- Committer:
- annesteenbeek
- Date:
- Thu Oct 08 00:39:57 2015 +0200
- Revision:
- 39:41635b1b11de
- Parent:
- 38:2c18429ad352
- Child:
- 40:0d88aa25a57d
states to float
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
annesteenbeek | 14:0c0d1bfd94ea | 1 | #include "buttons.h" |
annesteenbeek | 14:0c0d1bfd94ea | 2 | #include "mbed.h" |
annesteenbeek | 17:872fcf85116d | 3 | #include "config.h" |
annesteenbeek | 25:874675516927 | 4 | #include "actuators.h" |
annesteenbeek | 0:525558a26464 | 5 | // functions for reading all the buttons and switches |
annesteenbeek | 27:5eb5ec295ab2 | 6 | AnalogIn pot2(pot2Pin); |
annesteenbeek | 30:a20f16bf8dda | 7 | AnalogIn pot1(pot1Pin); |
annesteenbeek | 0:525558a26464 | 8 | |
annesteenbeek |
32:2006977785f5 | 9 | // Led states: |
annesteenbeek |
32:2006977785f5 | 10 | // 0 leds: motors disabled |
annesteenbeek | 35:e26a573e3e9f | 11 | // redLed: control X speed |
annesteenbeek | 35:e26a573e3e9f | 12 | // greenLed: control Y speed |
annesteenbeek | 35:e26a573e3e9f | 13 | // blueLed: control Servo pos |
annesteenbeek | 36:6f9670eb9168 | 14 | DigitalOut redLed(LED_RED); |
annesteenbeek | 36:6f9670eb9168 | 15 | DigitalOut greenLed(LED_GREEN); |
annesteenbeek | 36:6f9670eb9168 | 16 | DigitalOut blueLed(LED_BLUE); |
annesteenbeek |
32:2006977785f5 | 17 | |
annesteenbeek |
32:2006977785f5 | 18 | AnalogIn button1(button1Pin); |
annesteenbeek |
32:2006977785f5 | 19 | AnalogIn button2(button2Pin); |
annesteenbeek | 39:41635b1b11de | 20 | float prevState1 = 1; |
annesteenbeek | 39:41635b1b11de | 21 | float prevState2 = 1; |
annesteenbeek |
32:2006977785f5 | 22 | int actuatorState = 0; |
annesteenbeek |
32:2006977785f5 | 23 | |
annesteenbeek | 34:f315b2b38555 | 24 | float pot1Val = 0; |
annesteenbeek | 34:f315b2b38555 | 25 | float pot2Val = 0; |
annesteenbeek | 34:f315b2b38555 | 26 | |
annesteenbeek |
32:2006977785f5 | 27 | |
annesteenbeek | 0:525558a26464 | 28 | void checkSwitches(){ |
annesteenbeek |
32:2006977785f5 | 29 | |
annesteenbeek |
32:2006977785f5 | 30 | // 3 states: X control, Y control en Servo control |
annesteenbeek |
32:2006977785f5 | 31 | // button 1 to enable/disable actuators |
annesteenbeek |
32:2006977785f5 | 32 | // button 2 to switch between states |
annesteenbeek |
32:2006977785f5 | 33 | |
annesteenbeek | 38:2c18429ad352 | 34 | if(button1.read() == 0 && prevState1 != 0){ |
annesteenbeek | 34:f315b2b38555 | 35 | motorsEnable = !motorsEnable; |
annesteenbeek |
32:2006977785f5 | 36 | } |
annesteenbeek | 38:2c18429ad352 | 37 | if(button2.read() == 0 && prevState2 != 0){ |
annesteenbeek | 34:f315b2b38555 | 38 | actuatorState++; |
annesteenbeek | 34:f315b2b38555 | 39 | if(actuatorState==3){ |
annesteenbeek | 34:f315b2b38555 | 40 | actuatorState = 0; |
annesteenbeek | 34:f315b2b38555 | 41 | } |
annesteenbeek |
32:2006977785f5 | 42 | } |
annesteenbeek | 38:2c18429ad352 | 43 | prevState1 = button1.read(); |
annesteenbeek | 38:2c18429ad352 | 44 | prevState2 = button2.read(); |
annesteenbeek |
32:2006977785f5 | 45 | |
annesteenbeek |
32:2006977785f5 | 46 | pot1Val = pot1.read(); |
annesteenbeek |
32:2006977785f5 | 47 | pot2Val = pot2.read(); |
annesteenbeek |
32:2006977785f5 | 48 | |
annesteenbeek |
32:2006977785f5 | 49 | if(motorsEnable){ |
annesteenbeek |
32:2006977785f5 | 50 | switch (actuatorState){ |
annesteenbeek |
32:2006977785f5 | 51 | case 0: // potmeters control X speed |
annesteenbeek | 36:6f9670eb9168 | 52 | redLed.write(0); greenLed.write(1); blueLed.write(1); |
annesteenbeek | 34:f315b2b38555 | 53 | motorSetSpeed1 = 300*(pot2.read()-pot1.read()); |
annesteenbeek |
32:2006977785f5 | 54 | break; |
annesteenbeek |
32:2006977785f5 | 55 | case 1: // potmeters control Y speed |
annesteenbeek | 36:6f9670eb9168 | 56 | redLed.write(1); greenLed.write(0); blueLed.write(1); |
annesteenbeek |
32:2006977785f5 | 57 | motorSetSpeed2 = 300*(pot2.read()-pot1.read()); |
annesteenbeek |
32:2006977785f5 | 58 | break; |
annesteenbeek |
32:2006977785f5 | 59 | case 2: // potmeters control Servo pos |
annesteenbeek | 36:6f9670eb9168 | 60 | redLed.write(1); greenLed.write(1); blueLed.write(0); |
annesteenbeek |
32:2006977785f5 | 61 | servoPos = pot2.read(); |
annesteenbeek |
32:2006977785f5 | 62 | break; |
annesteenbeek |
32:2006977785f5 | 63 | } |
annesteenbeek |
32:2006977785f5 | 64 | }else{ |
annesteenbeek | 36:6f9670eb9168 | 65 | redLed.write(1); greenLed.write(1); blueLed.write(1); |
annesteenbeek |
32:2006977785f5 | 66 | } |
annesteenbeek | 34:f315b2b38555 | 67 | } |