![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
DE refactored as state machine
main.cpp
- Committer:
- evangeli
- Date:
- 2018-10-22
- Revision:
- 0:d531bdb9c2c7
File content as of revision 0:d531bdb9c2c7:
/* ES200 3321 Project 2 MIDN 3/C Dietrich, Schwind, Silver */ #include "mbed.h" #include "rtos.h" #include "stdlib.h" #include "Motor.h" #include "Servo.h" // global hardware objects Serial pc(USBTX,USBRX); Servo servo_1(p24);//rotates hand between palm facing up and palm facing in Servo servo_2(p21); //on jar to rotate it in hand Motor motor(p29, p30, p26); // drive arm from 90 degrees to forehead DigitalIn switch_1(p17); //on protoboard - hit to start DigitalIn switch_2(p18); //on "hand" - hits forehead to turn motor off DigitalIn switch_3(p12); //on protoboard - returns arm to start position DigitalIn switch_4(p10); //on "hand" - hits desk when going down to turn motor off int main() { // setup pc.printf("ES200 3321 Team Peanut Butter Beat Army\r\n"); 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) 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) // state machines start here while(1){ // idle state do { pc.printf("main() in idle state, awaiting sw1\r\n"); servo_1.write(0.25); //Sets the servo in the initial position - palm facing in servo_2.write(0.0); //Sets the servo in the initial position - Does not matter where ThisThread::sleep_for(200); } while (!switch_1.read()); // peanut butter rotation pc.printf("main() in peanut butter rotation state LATER\r\n"); // palm up state pc.printf("main() going to palm up state\r\n"); servo_1.write(.75); //turn the hand to the "palm up" position ThisThread::sleep_for(2000); //wait for hand to get into "palm up" position // smash state pc.printf("main() smash PB against head state\r\n"); motor.speed(0.7); //turn motor on to drive arm up while (!switch_2.read()){ pc.printf("main() awaiting palm switch 2 to finish PB head smash\r\n"); ThisThread::sleep_for(100); } motor.speed(0.0); // play sound pc.printf("main() in play sound state LATER\r\n"); while (!switch_3.read()){ pc.printf("main() awaiting switch_3 to recycle\r\n"); ThisThread::sleep_for(200); }; // lower arm pc.printf("main() lowering arm\r\n"); motor.speed(-0.5); //turns the motor on to return the arm to the original position while (!switch_4.read()) { pc.printf("main() awaiting switch_4 during recycle\r\n"); ThisThread::sleep_for(200); } motor.speed(0.0); // motor will turn off ThisThread::sleep_for(1000); //wait 1 second for arm to level out // palm to side pc.printf("main() palm to side position\r\n"); servo_1.write(0.25); //Servo 1 will turn on returning the hand to the original "palm in" position pc.printf("main() returning to idle state\r\n"); } // while(1) } // main() if (switch_1.read() == 1) //User hits switch 1 (button on protoboard) { /* {motor.speed(0); //turn motor off 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 if (a == 1) { servo_1.write(...); //Servo on wrist turns to allow pb to come out pc.printf("1\n"); // send signal to Matlab to play Beat Army sound wait(10.0); // wait for Matlab to finish playing the sound NATHAN'S CODE??? else if (a == 0) { pc.printf("2\n"); // send signal to Matlab to play boo sound wait(10.0); // wait for Matlab to finish playing the sound NATHAN'S CODE??? } */