Diff: main.cpp

Revision:

0:d531bdb9c2c7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Oct 22 14:34:09 2018 +0000
@@ -0,0 +1,119 @@
+/*
+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???
+}
+*/
+