![](/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
Diff: buttons.cpp
- Revision:
- 36:6f9670eb9168
- Parent:
- 35:e26a573e3e9f
- Child:
- 38:2c18429ad352
--- a/buttons.cpp Wed Oct 07 22:46:52 2015 +0200 +++ b/buttons.cpp Wed Oct 07 23:10:54 2015 +0200 @@ -12,9 +12,9 @@ // redLed: control X speed // greenLed: control Y speed // blueLed: control Servo pos -DigitalOut redLed(RED_LED); -DigitalOut greenLed(GREEN_LED); -DigitalOut blueLed(BLUE_LED); +DigitalOut redLed(LED_RED); +DigitalOut greenLed(LED_GREEN); +DigitalOut blueLed(LED_BLUE); AnalogIn button1(button1Pin); AnalogIn button2(button2Pin); @@ -32,10 +32,10 @@ // button 1 to enable/disable actuators // button 2 to switch between states - if(button1 !=0 && prevState1 == 0){ + if(button1 == 0 && prevState1 != 0){ motorsEnable = !motorsEnable; } - if(button2 !=0 && prevState2 ==0){ + if(button2 == 0 && prevState2 != 0){ actuatorState++; if(actuatorState==3){ actuatorState = 0; @@ -50,20 +50,19 @@ if(motorsEnable){ switch (actuatorState){ case 0: // potmeters control X speed - redLed.write(0); greenLed.write(1); blueLed(1); + redLed.write(0); greenLed.write(1); blueLed.write(1); motorSetSpeed1 = 300*(pot2.read()-pot1.read()); break; case 1: // potmeters control Y speed - redLed.write(1); greenLed.write(0); blueLed(1); + redLed.write(1); greenLed.write(0); blueLed.write(1); motorSetSpeed2 = 300*(pot2.read()-pot1.read()); break; case 2: // potmeters control Servo pos - redLed.write(1); greenLed.write(1); blueLed(0); + redLed.write(1); greenLed.write(1); blueLed.write(0); servoPos = pot2.read(); break; } }else{ - redLed.write(1); greenLed.write(1); blueLed(1); + redLed.write(1); greenLed.write(1); blueLed.write(1); } - motorSetSpeed2 = motorSetSpeed2 - 300*pot1.read(); } \ No newline at end of file