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

Test code

Dependencies:   mbed Motor Servo

main.cpp@1:bd813dd636a9, 2018-10-09 (annotated)

Committer:
m215910
Date:
Tue Oct 09 15:05:03 2018 +0000
Revision:
1:bd813dd636a9
Parent:
0:755c12c1a9ad
Child:
2:17956bff3ff2
First version of pseudo code. The pins are not entered. All if statements

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 1:bd813dd636a9 6 #include "Motor.h" //must change line 31 in Motor.cpp according to Lab
m215910 0:755c12c1a9ad 7 #include "mbed.h"
m215910 1:bd813dd636a9 8 #include "Servo.h" //need Servo library
m215910 0:755c12c1a9ad 9
m215910 1:bd813dd636a9 10 Motor m(p, p, p); //designates the pins used by the motor
m215910 1:bd813dd636a9 11 Servo servo1(p);
m215910 1:bd813dd636a9 12 Servo servo2(p);
m215910 1:bd813dd636a9 13 DigitalIn sw1(p); //switches or buttons
m215910 1:bd813dd636a9 14 DigitalIn bu1(p); //Army man
m215910 1:bd813dd636a9 15 DigitalIn bu2(p); //Army man
m215910 1:bd813dd636a9 16 DigitalIn bu3(p); //Army man
m215910 1:bd813dd636a9 17 DigitalIn bu4(p); //Motor clockwise
m215910 1:bd813dd636a9 18 DigitalIn bu5(p); //Motor CC
m215910 1:bd813dd636a9 19 DigitalOut leds[5]={p,p,p,p,p};
m215910 1:bd813dd636a9 20 float pos = rand()/(float)RAND_MAX; //allows the servo to start at a random position
m215910 1:bd813dd636a9 21 float pos2 = rand()/(float)RAND_MAX;
m215910 1:bd813dd636a9 22 int sw1state, bu1state, bu2state, bu3state, bu4state, bu5state; //the state of the switch
m215910 1:bd813dd636a9 23 int s=0.2; //speed of motor rotation - fairly slow so as to be exact
m215910 1:bd813dd636a9 24
m215910 0:755c12c1a9ad 25
m215910 0:755c12c1a9ad 26 int main() {
m215910 1:bd813dd636a9 27 servo1.calibrate(0.0009, 90.0); //need to calibrate the servos so they don't freak out
m215910 1:bd813dd636a9 28 servo2.calibrate(0.0009, 90.0);
m215910 1:bd813dd636a9 29 servo1=pos; //used to help calibrate
m215910 1:bd813dd636a9 30 servo2=pos2;
m215910 1:bd813dd636a9 31
m215910 1:bd813dd636a9 32 while(1) { //do we need while?
m215910 1:bd813dd636a9 33 sw1state=sw1.read(); //read in switch state
m215910 1:bd813dd636a9 34 bu1state=bu1.read();
m215910 1:bd813dd636a9 35 bu2state=bu2.read();
m215910 1:bd813dd636a9 36 bu3state=bu3.read();
m215910 1:bd813dd636a9 37 bu4state=bu4.read();
m215910 1:bd813dd636a9 38 bu5state=bu5.read();
m215910 1:bd813dd636a9 39 pos=0
m215910 1:bd813dd636a9 40 pos2=0
m215910 1:bd813dd636a9 41
m215910 1:bd813dd636a9 42 if((sw1state) == 1) { //if switch is on move servos quickly to other angle
m215910 1:bd813dd636a9 43 (pos && pos2) = 1;}
m215910 1:bd813dd636a9 44 if((sw1state) == 1) { //if switch is off move back
m215910 1:bd813dd636a9 45 (pos && pos2) = 0;}
m215910 1:bd813dd636a9 46
m215910 1:bd813dd636a9 47
m215910 1:bd813dd636a9 48 if (bu1state == 0) { //if ARMY button is off light up LEDS
m215910 1:bd813dd636a9 49 leds[0]=1;}
m215910 1:bd813dd636a9 50 if (bu2state == 0) {
m215910 1:bd813dd636a9 51 leds[1]=1;}
m215910 1:bd813dd636a9 52 if (bu3state == 0) {
m215910 1:bd813dd636a9 53 leds[2]=1;}
m215910 1:bd813dd636a9 54 if (bu1state == 1) { //if ARMY button is on nothing happens - ARMY guys with weight on LEDS
m215910 1:bd813dd636a9 55 leds[0]=0;}
m215910 1:bd813dd636a9 56 if (bu2state == 1) {
m215910 1:bd813dd636a9 57 leds[1]=0;}
m215910 1:bd813dd636a9 58 if (bu3state == 1) {
m215910 1:bd813dd636a9 59 leds[2]=0;}
m215910 1:bd813dd636a9 60
m215910 1:bd813dd636a9 61
m215910 1:bd813dd636a9 62 if (bu4state == 1) { //if bu4 is on rotate motor fwd
m215910 1:bd813dd636a9 63 m.speed(s);}
m215910 1:bd813dd636a9 64 if (bu5state == 1) { //if bu5 is on rotate motor rev
m215910 1:bd813dd636a9 65 m.speed(-s);}
m215910 1:bd813dd636a9 66
m215910 1:bd813dd636a9 67 } //end while
m215910 1:bd813dd636a9 68 } //end main