Diff: main.cpp

Revision:

3:638dced18d87

Parent:

2:17956bff3ff2

Child:

4:b4e19be17235

--- a/main.cpp	Fri Oct 12 14:45:12 2018 +0000
+++ b/main.cpp	Tue Oct 16 15:43:29 2018 +0000
@@ -3,16 +3,17 @@
 //Goat Launcher
 
 //Libraries and mechanical directives
+
+#include "mbed.h"
 #include "Motor.h" //must change line 31 in Motor.cpp according to Lab
-#include "mbed.h"
 #include "Servo.h" //need Servo library
 
-Motor m(p29, p30, p26); //designates the pins used by the motor
+Motor m(p26, p30, p29); //designates the pins used by the motor
 Servo servo1(p21);
 Servo servo2(p22);
 DigitalIn sw1(p16); //switches or buttons
-DigitalIn bu1(p24); //Army man
-//DigitalIn bu2(p); //Army man
+DigitalIn bu1(p15); //Army man
+DigitalIn bu2(p14); //Army man
 //DigitalIn bu3(p); //Army man
 //DigitalIn bu4(p); //Motor clockwise
 //DigitalIn bu5(p); //Motor CC
@@ -20,45 +21,46 @@
 float pos = rand()/(float)RAND_MAX; //allows the servo to start at a random position 
 float pos2 = rand()/(float)RAND_MAX;
 int sw1state, bu1state, bu2state, bu3state, bu4state, bu5state; //the state of the switch
-int s=0.2; //speed of motor rotation - fairly slow so as to be exact
+int s=0.6; //speed of motor rotation - fairly slow so as to be exact
 
 
 int main() {
-    servo1.calibrate(0.0009, 90.0); //need to calibrate the servos so they don't freak out
-    servo2.calibrate(0.0009, 90.0);
-    servo1=pos; //used to help calibrate
-    servo2=pos2;
+    //servo1.calibrate(0.0009, 90.0); //need to calibrate the servos so they don't freak out
+    //servo2.calibrate(0.0009, 90.0);
+    //servo1=pos; //used to help calibrate
+    //servo2=pos2;
     
     while(1) { //do we need while?
         sw1state=sw1.read(); //read in switch state
-        bu1state=bu1.read();
+        //bu1state=bu1.read();
         //bu2state=bu2.read();
         //bu3state=bu3.read();
         //bu4state=bu4.read();
         //bu5state=bu5.read();
-        pos=0;
-        pos2=0;
+        //pos=0;
+        //pos2=0;
         
         if (sw1state == 1) { //if bu4 is on rotate motor fwd
             m.speed(s);
-            s=1;}
-        if (sw1state == 0) { //if bu5 is on rotate motor rev
-            m.speed(-s);
+            s=1;
+            printf("hi");}
+            else { //if bu5 is on rotate motor rev
+            m.speed(s);
             s=0;}
             
             
-        if (bu1state == 0) { //if ARMY button is off light up LEDS
-            leds[0]=1;}
-        if (bu2state == 0) {
-            leds[1]=1;}
-        if (bu3state == 0) {
-            leds[2]=1;}
-        if (bu1state == 1) { //if ARMY button is on nothing happens - ARMY guys with weight on LEDS
-            leds[0]=0;}
-        if (bu2state == 1) {
-            leds[1]=0;}
-        if (bu3state == 1) {
-            leds[2]=0;}
+        //if (bu1state == 0) { //if ARMY button is off light up LEDS
+        //    leds[0]=1;}
+        //    else {
+        //    leds[0]=0;}
+        //if (bu2state == 0) {
+        //    leds[1]=1;}
+        //    else {
+        //    leds[1]=0;}
+        //if (bu3state == 0) {
+        //    leds[2]=1;}
+        //    else {
+        //    leds[2]=0;}
         
         
         //if((sw1state) == 1) { //if switch is on move servos quickly to other angle