Fa2018-es200-3321-project2-goatpong / Mbed 2 deprecated Project2

Test code

Dependencies:   mbed Motor Servo

main.cpp@3:638dced18d87, 2018-10-16 (annotated)

Committer:
m215910
Date:
Tue Oct 16 15:43:29 2018 +0000
Revision:
3:638dced18d87
Parent:
2:17956bff3ff2
Child:
4:b4e19be17235
buttons and motors should work

Who changed what in which revision?

UserRevisionLine numberNew contents of line
m215910 1:bd813dd636a9 1 //Maria Satre, Riki Gagnon, Theo Boskov, Janelle Stewart
m215910 1:bd813dd636a9 2 //Project 2
m215910 1:bd813dd636a9 3 //Goat Launcher
m215910 1:bd813dd636a9 4
m215910 1:bd813dd636a9 5 //Libraries and mechanical directives
m215910 3:638dced18d87 6
m215910 3:638dced18d87 7 #include "mbed.h"
m215910 1:bd813dd636a9 8 #include "Motor.h" //must change line 31 in Motor.cpp according to Lab
m215910 1:bd813dd636a9 9 #include "Servo.h" //need Servo library
m215910 0:755c12c1a9ad 10
m215910 3:638dced18d87 11 Motor m(p26, p30, p29); //designates the pins used by the motor
m215910 2:17956bff3ff2 12 Servo servo1(p21);
m215910 2:17956bff3ff2 13 Servo servo2(p22);
m215910 2:17956bff3ff2 14 DigitalIn sw1(p16); //switches or buttons
m215910 3:638dced18d87 15 DigitalIn bu1(p15); //Army man
m215910 3:638dced18d87 16 DigitalIn bu2(p14); //Army man
m215910 2:17956bff3ff2 17 //DigitalIn bu3(p); //Army man
m215910 2:17956bff3ff2 18 //DigitalIn bu4(p); //Motor clockwise
m215910 2:17956bff3ff2 19 //DigitalIn bu5(p); //Motor CC
m215910 2:17956bff3ff2 20 DigitalOut leds[3]={p25, p26, p27};
m215910 1:bd813dd636a9 21 float pos = rand()/(float)RAND_MAX; //allows the servo to start at a random position
m215910 1:bd813dd636a9 22 float pos2 = rand()/(float)RAND_MAX;
m215910 1:bd813dd636a9 23 int sw1state, bu1state, bu2state, bu3state, bu4state, bu5state; //the state of the switch
m215910 3:638dced18d87 24 int s=0.6; //speed of motor rotation - fairly slow so as to be exact
m215910 1:bd813dd636a9 25
m215910 0:755c12c1a9ad 26
m215910 0:755c12c1a9ad 27 int main() {
m215910 3:638dced18d87 28 //servo1.calibrate(0.0009, 90.0); //need to calibrate the servos so they don't freak out
m215910 3:638dced18d87 29 //servo2.calibrate(0.0009, 90.0);
m215910 3:638dced18d87 30 //servo1=pos; //used to help calibrate
m215910 3:638dced18d87 31 //servo2=pos2;
m215910 1:bd813dd636a9 32
m215910 1:bd813dd636a9 33 while(1) { //do we need while?
m215910 1:bd813dd636a9 34 sw1state=sw1.read(); //read in switch state
m215910 3:638dced18d87 35 //bu1state=bu1.read();
m215910 2:17956bff3ff2 36 //bu2state=bu2.read();
m215910 2:17956bff3ff2 37 //bu3state=bu3.read();
m215910 2:17956bff3ff2 38 //bu4state=bu4.read();
m215910 2:17956bff3ff2 39 //bu5state=bu5.read();
m215910 3:638dced18d87 40 //pos=0;
m215910 3:638dced18d87 41 //pos2=0;
m215910 2:17956bff3ff2 42
m215910 2:17956bff3ff2 43 if (sw1state == 1) { //if bu4 is on rotate motor fwd
m215910 2:17956bff3ff2 44 m.speed(s);
m215910 3:638dced18d87 45 s=1;
m215910 3:638dced18d87 46 printf("hi");}
m215910 3:638dced18d87 47 else { //if bu5 is on rotate motor rev
m215910 3:638dced18d87 48 m.speed(s);
m215910 2:17956bff3ff2 49 s=0;}
m215910 1:bd813dd636a9 50
m215910 1:bd813dd636a9 51
m215910 3:638dced18d87 52 //if (bu1state == 0) { //if ARMY button is off light up LEDS
m215910 3:638dced18d87 53 // leds[0]=1;}
m215910 3:638dced18d87 54 // else {
m215910 3:638dced18d87 55 // leds[0]=0;}
m215910 3:638dced18d87 56 //if (bu2state == 0) {
m215910 3:638dced18d87 57 // leds[1]=1;}
m215910 3:638dced18d87 58 // else {
m215910 3:638dced18d87 59 // leds[1]=0;}
m215910 3:638dced18d87 60 //if (bu3state == 0) {
m215910 3:638dced18d87 61 // leds[2]=1;}
m215910 3:638dced18d87 62 // else {
m215910 3:638dced18d87 63 // leds[2]=0;}
m215910 1:bd813dd636a9 64
m215910 1:bd813dd636a9 65
m215910 2:17956bff3ff2 66 //if((sw1state) == 1) { //if switch is on move servos quickly to other angle
m215910 2:17956bff3ff2 67 // (pos && pos2) = 1;}
m215910 2:17956bff3ff2 68 //if((sw1state) == 1) { //if switch is off move back
m215910 2:17956bff3ff2 69 // (pos && pos2) = 0;}
m215910 1:bd813dd636a9 70
m215910 1:bd813dd636a9 71 } //end while
m215910 1:bd813dd636a9 72 } //end main