Diff: main.cpp

Revision:

6:ed7539be9fa3

Parent:

5:0c7c692db414

Child:

7:b7257f01ced7

diff -r 0c7c692db414 -r ed7539be9fa3 main.cpp
--- a/main.cpp	Mon Oct 15 11:34:44 2018 +0000
+++ b/main.cpp	Fri Oct 19 12:27:25 2018 +0000
@@ -11,15 +11,19 @@
 #include "Servo.h"
 
 // Declare some stuff
-DigitalIn sw1(p19); // switch for activating motor 
-DigitalIn sw2(p18); // switch for activating servo 
+DigitalIn sw1(p18); // switch for activating motor 
+DigitalIn sw2(p16); // switch for activating servo 
+DigitalIn sw3(p20); //
 DigitalOut led1(LED1); // status LED for sw1
 DigitalOut led2(LED2); // status LED for sw2
+DigitalOut led3(LED3); // status LED for sw3
 DigitalOut heartbeat(LED4); // heartbeat LED
 Motor m(p26,p30,p29); 
 Servo s1(p21);
+Servo s2(p22);
 Thread m_thread; // NEW IN mbed OS 5, threads are used to (sorta) do multiple things at once
 Thread s1_thread;
+Thread s2_thread;
 
 /** Callback for executing a simple motor action. When sw1 is high,
  *  the motor turns forward, otherwise the motor turns off.
@@ -31,17 +35,21 @@
  */
 void s1_callback(void);
 
+void s2_callback(void);
+
 // main() runs in its own thread in the OS
 int main() {
     // startup things
-    printf("ES200 Project 2 thread example\n");
+    printf("ES200 Project 2 Rockem Sockem\n");
     s1.calibrate(0.0009,90.0); // calibrate servo s1 once at startup
+    s2.calibrate(0.0009,90.0); //calibrate servo s2 once at startup
     m.speed(0.0); // set motor speed to zero at startup
     
     // start tasks
     printf("main thread running\n");
     m_thread.start(callback(m_callback)); // starts the motor thread going
     s1_thread.start(callback(s1_callback)); // starts the servo thread going
+    s2_thread.start(callback(s2_callback)); //starts the servo2 thread going
     
     // main loop
     while(1){
@@ -60,14 +68,16 @@
 void m_callback(void){
     printf("m_thread running\n");
     while(1) {
-        if (sw1.read()){
-            led1.write(1); // light a light for debugging purposes
-            m.speed(0.7); // spin motor ahead
-            }
-            else {
-                led1.write(0); 
-                m.speed(0.0); // stop the shaft
-                }
+        
+            led1.write(1); // light a light for entertaining purposes
+            m.speed(0.7); // spin motor ahead to move players together
+            wait (1.2);
+            m.speed(0.0); //stop players when they are close.
+            wait (1+rand()%5); //let them fight for a random amount of time
+            led1.write(0); 
+            m.speed(-0.7); // move the players back
+            wait (1.2);
+                
         //ThisThread::sleep_for(200); // this thread executes 5x a second
         Thread::wait(200); 
     } // while(1)
@@ -79,14 +89,30 @@
     printf("s1_thread running\n");    
     while(1){
         if (sw2.read()){
-            led2.write(1); // light a light for debugging purposes
-            s1.write(s1.read()+0.1); // move servo a step to right
+            led2.write(1); // light a light for entertaining purposes
+            s1.write(s1.read()+0.5); // move servo a step to right
             }
             else{
                 led2.write(0); 
-                s1.write(s1.read()-0.1); // move servo a step to left
+                s1.write(0); // move servo a step to left
                 }
         //ThisThread::sleep_for(200); // this thread executes 5x a second
         Thread::wait(200); 
         } // while(1)
 } // s1_callback()
+
+void s2_callback(void){
+    printf("s2_thread running\n");    
+    while(1){
+        if (sw3.read()){
+            led3.write(1); // light a light for debugging purposes
+            s2.write(s2.read()+0.5); // move servo a step to right
+            }
+            else{
+                led3.write(0); 
+                s2.write(0); // move servo a step to left
+                }
+        //ThisThread::sleep_for(200); // this thread executes 5x a second
+        Thread::wait(200); 
+        } // while(1)
+} // s2_callback()