Fa2018-es200-3321-proj2-GoodTeam#2 / Mbed 2 deprecated Project_2_Code

Pseudo Code

Dependencies:   mbed Motor Servo

main.cpp@3:770e110905d9, 2018-10-16 (annotated)

Committer:
msilver
Date:
Tue Oct 16 14:46:15 2018 +0000
Revision:
3:770e110905d9
Parent:
2:b4a690fadc9b
Child:
4:8079e89199ff
m

Who changed what in which revision?

UserRevisionLine numberNew contents of line
msilver 1:d90f940d6ed2 1 /*Project 2 – Mechatronics – MIDN Dietrich, Schwind, Silver*/
msilver 0:3c51dfd71129 2
msilver 1:d90f940d6ed2 3 //Libraries
msilver 1:d90f940d6ed2 4 #include "mbed.h"
msilver 1:d90f940d6ed2 5 #include "stdio.h"
msilver 1:d90f940d6ed2 6 #include "stdlib.h"
msilver 2:b4a690fadc9b 7 #include "Motor.h"
msilver 2:b4a690fadc9b 8 #include "Servo.h"
msilver 1:d90f940d6ed2 9
msilver 2:b4a690fadc9b 10 //Declare servos, motors, and switches
msilver 2:b4a690fadc9b 11 Servo servo_1(p#);//rotates hand between palm facing up and palm facing in
msilver 2:b4a690fadc9b 12 Servo servo_2(p#); //inside jar to burst pb out
msilver 2:b4a690fadc9b 13 Motor motor(p#, p#, p#); // drive arm from 90 degrees to forehead
msilver 2:b4a690fadc9b 14 DigitalIn switch_1(p#); //in palm (when pb jar is put in the hand, hits the switch to activate the servo on the hand)
msilver 2:b4a690fadc9b 15 DigitalIn switch_2(p#); //on forehead (turn motor off)
msilver 2:b4a690fadc9b 16 DigitalIn switch_3(p#); //on lid? (when you put the contents back in the jar it signals arm to start moving back down to starting position?)
msilver 2:b4a690fadc9b 17 DigitalIn switch_4(p#); //on (desk?) to signal the motor to stop when arm reaches starting position
msilver 1:d90f940d6ed2 18
msilver 1:d90f940d6ed2 19 int main() {
msilver 2:b4a690fadc9b 20
msilver 2:b4a690fadc9b 21 servo_1.calibrate(0.0009, 45.0); //Calibrates the servo_1 timing by setting the pulse width and range of motion (45*2 = 90 degrees)
msilver 2:b4a690fadc9b 22 servo_2.calibrate(0.0009, 45.0); //Calibrates the servo_2 timing by setting the pulse width and range of motion (45*2 = 90 degrees)
msilver 3:770e110905d9 23 servo_1.write(0.5); //Or what ever number sets the servo in the initial position
msilver 2:b4a690fadc9b 24
msilver 2:b4a690fadc9b 25 /*Hand starts with palm facing in
msilver 2:b4a690fadc9b 26 User puts jar into hand
msilver 3:770e110905d9 27 Hits switch (wait a set time before turning servo on) that turns servo on to turn the hand to position where palm is facing up
msilver 3:770e110905d9 28 if (switch_1.read() == 1) {
msilver 3:770e110905d9 29 wait (...);
msilver 3:770e110905d9 30 servo_1.write(1.0); //or whatever number sets the servo to the "palm up" position
msilver 3:770e110905d9 31 wait (...);
msilver 3:770e110905d9 32 motor.speed(...);}
msilver 3:770e110905d9 33
msilver 0:3c51dfd71129 34 Motor drives arm from elbow at 90 degrees up to forehead (hit switch to turn motor off)
msilver 3:770e110905d9 35 if (switch_2.read() == 1) {
msilver 3:770e110905d9 36 motor.speed(0);
msilver 3:770e110905d9 37 int a = rand()%1; //Generate random integer 0 or 1 to determine if the jar will open or not}
msilver 3:770e110905d9 38
msilver 3:770e110905d9 39 if (a == 1) {
msilver 3:770e110905d9 40 servo_2.write(1.0); //Servo inside jar turns on to break the lid and make pb fall out
msilver 3:770e110905d9 41
msilver 3:770e110905d9 42 pc.printf("1\n"); // send signal to Matlab to play sound
msilver 3:770e110905d9 43 wait(10.0); // wait for Matlab to finish playing the sound
msilver 3:770e110905d9 44
msilver 2:b4a690fadc9b 45 Speaker will go off saying “beat Army” - send code through MatLab
msilver 3:770e110905d9 46 if (switch_3.read() == 1) //When user puts contents back in the jar and lid on, hits a switch (when lid goes back on?)
msilver 3:770e110905d9 47 { motor.speed(-...); //turns the motor on to return the arm to the original position
msilver 2:b4a690fadc9b 48
msilver 3:770e110905d9 49 }
msilver 3:770e110905d9 50 else if (a == 0)
msilver 3:770e110905d9 51 {
msilver 0:3c51dfd71129 52 Servo inside pb jar will not turn on
msilver 2:b4a690fadc9b 53 Speaker will say “boo” - send code through MatLab
msilver 3:770e110905d9 54 }
msilver 0:3c51dfd71129 55 --switch will not be hit when lid goes back (since it never came off) so will the user have to manually move the arm back to the starting position? Will they press the button on the lid so the motor turns on?
msilver 3:770e110905d9 56
msilver 3:770e110905d9 57 if (switch_4.read() == 1)// When switch 4 is hit {
msilver 3:770e110905d9 58 motor.speed(0); // motor will turn off
msilver 3:770e110905d9 59 servo_1.write(...) //Servo 1 will turn on returning the hand to the original position
msilver 3:770e110905d9 60 }
msilver 1:d90f940d6ed2 61 */
msilver 2:b4a690fadc9b 62 }