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

Pseudo Code

Dependencies:   mbed Motor Servo

main.cpp@4:8079e89199ff, 2018-10-22 (annotated)

Committer:
msilver
Date:
Mon Oct 22 14:06:02 2018 +0000
Revision:
4:8079e89199ff
Parent:
3:770e110905d9 
Project 2 Code 22OCT

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 4:8079e89199ff 11 Servo servo_1(p24);//rotates hand between palm facing up and palm facing in
msilver 4:8079e89199ff 12 Servo servo_2(p21); //on jar to rotate it in hand
msilver 4:8079e89199ff 13 Motor motor(p29, p30, p26); // drive arm from 90 degrees to forehead
msilver 4:8079e89199ff 14 //DigitalIn switch_1(p#); //on protoboard - hit to start
msilver 4:8079e89199ff 15 DigitalIn switch_2(p18); //on "hand" - hits forehead to turn motor off
msilver 4:8079e89199ff 16 //DigitalIn switch_3(p#); //on protoboard - returns arm to start position
msilver 4:8079e89199ff 17 DigitalIn switch_4(p20); //on "hand" - hits desk when going down to turn motor off
msilver 1:d90f940d6ed2 18
msilver 1:d90f940d6ed2 19 int main() {
msilver 4:8079e89199ff 20 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 4:8079e89199ff 21 servo_2.calibrate(0.0009, 90.0); //Calibrates the servo_2 timing by setting the pulse width and range of motion (45*2 = 90 degrees)
msilver 2:b4a690fadc9b 22
msilver 4:8079e89199ff 23 while(!switch_1)
msilver 4:8079e89199ff 24 servo_1.write(.25); //Sets the servo in the initial position - palm facing in
msilver 4:8079e89199ff 25 servo_2.write(0); //Sets the servo in the initial position - Does not matter where
msilver 2:b4a690fadc9b 26
msilver 4:8079e89199ff 27 if (switch_1.read() == 1) //User hits switch 1 (button on protoboard)
msilver 4:8079e89199ff 28 {
msilver 4:8079e89199ff 29 int i=0; //declare i as an integer and initialize it to 0
msilver 4:8079e89199ff 30 for (i=0; i<=10; i++) //rotate the pb jar for a cycle of 10 counts
msilver 4:8079e89199ff 31 { servo_2.write(0.0); //initial position
msilver 4:8079e89199ff 32 servo_2.write(1.0); //final position
msilver 4:8079e89199ff 33 }
msilver 4:8079e89199ff 34 servo_1.write(.75); //turn the hand to the "palm up" position
msilver 4:8079e89199ff 35 wait (2); //wait for hand to get into "palm up" position
msilver 4:8079e89199ff 36 motor.speed(.7); //turn motor on to drive arm up
msilver 3:770e110905d9 37
msilver 4:8079e89199ff 38 if (switch_2.read() == 2) //when switch hits forehead
msilver 4:8079e89199ff 39 {motor.speed(0); //turn motor off
msilver 4:8079e89199ff 40 int a = rand()%1;} //Generate random integer 0 or 1 to determine if the jar will open or not - what sound will play and if jar opens
msilver 3:770e110905d9 41
msilver 3:770e110905d9 42 if (a == 1) {
msilver 4:8079e89199ff 43 servo_1.write(...); //Servo on wrist turns to allow pb to come out
msilver 4:8079e89199ff 44 pc.printf("1\n"); // send signal to Matlab to play Beat Army sound
msilver 4:8079e89199ff 45 wait(10.0); // wait for Matlab to finish playing the sound NATHAN'S CODE???
msilver 3:770e110905d9 46
msilver 3:770e110905d9 47 else if (a == 0)
msilver 3:770e110905d9 48 {
msilver 4:8079e89199ff 49 pc.printf("2\n"); // send signal to Matlab to play boo sound
msilver 4:8079e89199ff 50 wait(10.0); // wait for Matlab to finish playing the sound NATHAN'S CODE???
msilver 4:8079e89199ff 51 }
msilver 3:770e110905d9 52
msilver 4:8079e89199ff 53 if (switch_3.read() == 1) //When user is ready to return arm to start position, hits switch_3 on protoboard
msilver 4:8079e89199ff 54 { motor.speed(-.5); //turns the motor on to return the arm to the original position
msilver 4:8079e89199ff 55 }
msilver 4:8079e89199ff 56
msilver 4:8079e89199ff 57 if (switch_4.read() == 1)// When switch 4 is hit
msilver 3:770e110905d9 58 motor.speed(0); // motor will turn off
msilver 4:8079e89199ff 59 wait(1); //wait 1 second for arm to level out
msilver 4:8079e89199ff 60 servo_1.write(.25) //Servo 1 will turn on returning the hand to the original "palm in" position
msilver 3:770e110905d9 61 }
msilver 4:8079e89199ff 62 */