main.cpp

00001  #include "mbed.h"
00002 #include "stdio.h"
00003 #include "Motor.h"
00004 #include "Servo.h"
00005 #include "time.h"
00006 
00007 Motor knife(p26, p30, p29);
00008 Servo finish(p22);
00009 Servo start(p21);
00010 DigitalOut led[4]={LED1, LED2, LED3, LED4};
00011 int i, j;
00012 int x;
00013 
00014 
00015 int main() {
00016         start.calibrate(0.0009, 90.0);
00017         finish.calibrate(0.0009, 90.0);
00018        
00019         start = 0.25; //lowers start gate
00020         wait (1.0); //gives time for crab to get down track
00021         
00022         x = (rand()%9)+1;
00023         printf("%d", x);
00024         
00025         start = 0.0; //set initial start gate position  
00026     
00027   
00028         if (x <= 7) {
00029             finish = 1.0; //gate has a 70% chance to go one way
00030             for (i=0; i<5; i++) {
00031                 led[i] = 1;
00032                 wait (0.15);
00033                 led[i]=0;      
00034             }
00035         }
00036         else { //30% chance the gate will go the other way 
00037                 finish = 0.0; 
00038                 knife.speed (0.5);
00039                 wait (.5);
00040                 knife.speed (-0.5);
00041                 wait (.5);
00042                 knife.speed(0); 
00043                 }   
00044                 
00045         finish = 0.5; //set finish gate to halfway point
00046                 
00047           
00048         }