Group 1-04 / Mbed 2 deprecated ME31001_Projectrough

Code to fire the ball

Dependencies:   Servo mbed

main.cpp@1:3db7a3534296, 2017-11-28 (annotated)

Committer:
ihmclachlan
Date:
Tue Nov 28 16:33:52 2017 +0000
Revision:
1:3db7a3534296
Parent:
0:6ca20e4aa3f0 
change slight code for servo;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ihmclachlan 0:6ca20e4aa3f0 1 /**************************************************************
ihmclachlan 0:6ca20e4aa3f0 2 / ME31001 Group: 1-04
ihmclachlan 0:6ca20e4aa3f0 3 /
ihmclachlan 0:6ca20e4aa3f0 4 / Final Project
ihmclachlan 0:6ca20e4aa3f0 5 /
ihmclachlan 0:6ca20e4aa3f0 6 / The program controls the operation of a ball launcher that fires a
ihmclachlan 0:6ca20e4aa3f0 7 ball in a random direction and changes distance fired based on how long
ihmclachlan 0:6ca20e4aa3f0 8 it took ball to be returned
ihmclachlan 0:6ca20e4aa3f0 9 /**************************************************************/
ihmclachlan 0:6ca20e4aa3f0 10
ihmclachlan 0:6ca20e4aa3f0 11 #include "mbed.h"
ihmclachlan 0:6ca20e4aa3f0 12 #include "Servo.h"
ihmclachlan 0:6ca20e4aa3f0 13 #include "stdlib.h"
ihmclachlan 0:6ca20e4aa3f0 14 #include "time.h"
ihmclachlan 0:6ca20e4aa3f0 15
ihmclachlan 0:6ca20e4aa3f0 16
ihmclachlan 0:6ca20e4aa3f0 17 PwmOut FMotor(p23); // set the firing motors as an output
ihmclachlan 0:6ca20e4aa3f0 18 Servo myservo1 (p22); // servo to rotate the base
ihmclachlan 0:6ca20e4aa3f0 19 Servo myservo2 (p21); // servo to release the ball
ihmclachlan 0:6ca20e4aa3f0 20
ihmclachlan 0:6ca20e4aa3f0 21 DigitalIn PB(p17); // a push button that when switched turns on the program and when switched again turns it off
ihmclachlan 0:6ca20e4aa3f0 22 DigitalIn LDR(p19); // An LDR sensor to check if the ball is in the right position
ihmclachlan 0:6ca20e4aa3f0 23
ihmclachlan 0:6ca20e4aa3f0 24 Timer t; // we need a timer to see how long it has been since the ball was in the chute
ihmclachlan 0:6ca20e4aa3f0 25
ihmclachlan 0:6ca20e4aa3f0 26 int main() {
ihmclachlan 0:6ca20e4aa3f0 27
ihmclachlan 0:6ca20e4aa3f0 28 int x = 0; // a counter to check if the push button switch has been pressed
ihmclachlan 0:6ca20e4aa3f0 29
ihmclachlan 0:6ca20e4aa3f0 30 while(1) {
ihmclachlan 0:6ca20e4aa3f0 31
ihmclachlan 0:6ca20e4aa3f0 32 if (PB.read() == 1) //if the pushbutton is pressed then we change the variable x
ihmclachlan 0:6ca20e4aa3f0 33 {
ihmclachlan 0:6ca20e4aa3f0 34 x = !x;
ihmclachlan 0:6ca20e4aa3f0 35 wait (0.25);
ihmclachlan 0:6ca20e4aa3f0 36 }
ihmclachlan 0:6ca20e4aa3f0 37
ihmclachlan 0:6ca20e4aa3f0 38
ihmclachlan 0:6ca20e4aa3f0 39 if (PB.read() == 0 && x == 0) // if the pushbutton is not currently pressed and x is in the 0 state run the rest of the program
ihmclachlan 0:6ca20e4aa3f0 40 {
ihmclachlan 0:6ca20e4aa3f0 41 if (LDR) { // if the ball is in position
ihmclachlan 0:6ca20e4aa3f0 42 FMotor.period(0.010); // set PWM period to 10 ms
ihmclachlan 0:6ca20e4aa3f0 43 FMotor = 0.5; // start the motors at 50% duty cycle
ihmclachlan 0:6ca20e4aa3f0 44
ihmclachlan 0:6ca20e4aa3f0 45 int r = rand() % 50; // make r be a random number between 1 and 50
ihmclachlan 0:6ca20e4aa3f0 46
ihmclachlan 0:6ca20e4aa3f0 47
ihmclachlan 0:6ca20e4aa3f0 48 for(float p=0; p<1.0 && r != 35; p += 0.05) { // if r is 35 (could be any number) then the servo will stop turning otherwise it sweeps through its full range
ihmclachlan 0:6ca20e4aa3f0 49 myservo1 = p;
ihmclachlan 0:6ca20e4aa3f0 50 int r = rand() % 50;
ihmclachlan 0:6ca20e4aa3f0 51 wait(0.2); }
ihmclachlan 0:6ca20e4aa3f0 52
ihmclachlan 0:6ca20e4aa3f0 53 for(float p=1; p>0 && r != 35; p -= 0.05) {
ihmclachlan 0:6ca20e4aa3f0 54 myservo1 = p;
ihmclachlan 0:6ca20e4aa3f0 55 int r = rand() % 50;
ihmclachlan 0:6ca20e4aa3f0 56 wait(0.2);
ihmclachlan 0:6ca20e4aa3f0 57 }
ihmclachlan 0:6ca20e4aa3f0 58
ihmclachlan 1:3db7a3534296 59 for(float q=0; q<0.5; q += 0.05) { // remove the lever holding the ball up
ihmclachlan 1:3db7a3534296 60 myservo2 = q;
ihmclachlan 1:3db7a3534296 61 wait(0.2); }
ihmclachlan 1:3db7a3534296 62
ihmclachlan 0:6ca20e4aa3f0 63 wait (1);
ihmclachlan 1:3db7a3534296 64
ihmclachlan 1:3db7a3534296 65 for(float q=0.5; q>0; q -= 0.05) { // put the leaver back into place
ihmclachlan 1:3db7a3534296 66 myservo2 = q;
ihmclachlan 1:3db7a3534296 67 wait(0.2); }
ihmclachlan 1:3db7a3534296 68
ihmclachlan 0:6ca20e4aa3f0 69 wait (3); // give time for the ball to fire
ihmclachlan 0:6ca20e4aa3f0 70 t.start(); // start the timer
ihmclachlan 0:6ca20e4aa3f0 71 FMotor = 0; // turn off motors
ihmclachlan 0:6ca20e4aa3f0 72
ihmclachlan 0:6ca20e4aa3f0 73 }
ihmclachlan 0:6ca20e4aa3f0 74 do // create a new loop so that the program doesn't keep on repeating the first part
ihmclachlan 0:6ca20e4aa3f0 75 {
ihmclachlan 0:6ca20e4aa3f0 76
ihmclachlan 0:6ca20e4aa3f0 77 if (LDR) { // see if the ball is back in position in position
ihmclachlan 0:6ca20e4aa3f0 78 t.stop(); // stop the timer to see how long it took the ball to get back
ihmclachlan 0:6ca20e4aa3f0 79 }
ihmclachlan 0:6ca20e4aa3f0 80
ihmclachlan 0:6ca20e4aa3f0 81 if (LDR && t.read() <5) { // if the ball in back in position and it took less than 5 seconds for the ball to get back
ihmclachlan 0:6ca20e4aa3f0 82 FMotor.period(0.010); // set PWM period to 10 ms
ihmclachlan 0:6ca20e4aa3f0 83 FMotor = 1; // start the motors at 100% duty cycle
ihmclachlan 0:6ca20e4aa3f0 84
ihmclachlan 0:6ca20e4aa3f0 85 int r = rand() % 50; // make r be a random number between 1 and 50
ihmclachlan 0:6ca20e4aa3f0 86
ihmclachlan 0:6ca20e4aa3f0 87
ihmclachlan 0:6ca20e4aa3f0 88 for(float p=0; p<1.0 && r != 35; p += 0.05) { // if r is 35 (could be any number) then the servo will stop turning otherwise it sweeps through its full range
ihmclachlan 0:6ca20e4aa3f0 89 myservo1 = p;
ihmclachlan 0:6ca20e4aa3f0 90 int r = rand() % 50;
ihmclachlan 0:6ca20e4aa3f0 91 wait(0.2); }
ihmclachlan 0:6ca20e4aa3f0 92
ihmclachlan 0:6ca20e4aa3f0 93 for(float p=1; p>0 && r != 35; p -= 0.05) {
ihmclachlan 0:6ca20e4aa3f0 94 myservo1 = p;
ihmclachlan 0:6ca20e4aa3f0 95 int r = rand() % 50;
ihmclachlan 0:6ca20e4aa3f0 96 wait(0.2);
ihmclachlan 0:6ca20e4aa3f0 97 }
ihmclachlan 1:3db7a3534296 98 for(float q=0; q<0.5; q += 0.05) { // remove the lever holding the ball up
ihmclachlan 1:3db7a3534296 99 myservo2 = q;
ihmclachlan 1:3db7a3534296 100 wait(0.2); }
ihmclachlan 1:3db7a3534296 101
ihmclachlan 0:6ca20e4aa3f0 102 wait (1);
ihmclachlan 1:3db7a3534296 103
ihmclachlan 1:3db7a3534296 104 for(float q=0.5; q>0; q -= 0.05) { // put the leaver back into place
ihmclachlan 1:3db7a3534296 105 myservo2 = q;
ihmclachlan 1:3db7a3534296 106 wait(0.2); }
ihmclachlan 1:3db7a3534296 107
ihmclachlan 0:6ca20e4aa3f0 108 wait (3); // give time for the ball to fire
ihmclachlan 0:6ca20e4aa3f0 109 t.start(); // start the timer
ihmclachlan 0:6ca20e4aa3f0 110 FMotor = 0; // turn off motors
ihmclachlan 0:6ca20e4aa3f0 111
ihmclachlan 0:6ca20e4aa3f0 112
ihmclachlan 0:6ca20e4aa3f0 113 if (LDR) { // see if the ball is back in position in position
ihmclachlan 0:6ca20e4aa3f0 114 t.stop(); // stop the timer to see how long it took the ball to get back
ihmclachlan 0:6ca20e4aa3f0 115 }
ihmclachlan 0:6ca20e4aa3f0 116 }
ihmclachlan 0:6ca20e4aa3f0 117 if (LDR && t.read() >5) { // if the ball in back in position and it took less than 5 seconds for the ball to get back
ihmclachlan 0:6ca20e4aa3f0 118 FMotor.period(0.010); // set PWM period to 10 ms
ihmclachlan 0:6ca20e4aa3f0 119 FMotor = 0.25; // start the motors at 25% duty cycle
ihmclachlan 0:6ca20e4aa3f0 120
ihmclachlan 0:6ca20e4aa3f0 121 int r = rand() % 50; // make r be a random number between 1 and 50
ihmclachlan 0:6ca20e4aa3f0 122
ihmclachlan 0:6ca20e4aa3f0 123
ihmclachlan 0:6ca20e4aa3f0 124 for(float p=0; p<1.0 && r != 35; p += 0.05) { // if r is 35 (could be any number) then the servo will stop turning otherwise it sweeps through its full range
ihmclachlan 0:6ca20e4aa3f0 125 myservo1 = p;
ihmclachlan 0:6ca20e4aa3f0 126 int r = rand() % 50;
ihmclachlan 0:6ca20e4aa3f0 127 wait(0.2); }
ihmclachlan 0:6ca20e4aa3f0 128
ihmclachlan 0:6ca20e4aa3f0 129 for(float p=1; p>0 && r != 35; p -= 0.05) {
ihmclachlan 0:6ca20e4aa3f0 130 myservo1 = p;
ihmclachlan 0:6ca20e4aa3f0 131 int r = rand() % 50;
ihmclachlan 0:6ca20e4aa3f0 132 wait(0.2);
ihmclachlan 0:6ca20e4aa3f0 133 }
ihmclachlan 0:6ca20e4aa3f0 134
ihmclachlan 1:3db7a3534296 135 for(float q=0; q<0.5; q += 0.05) { // remove the lever holding the ball up
ihmclachlan 1:3db7a3534296 136 myservo2 = q;
ihmclachlan 1:3db7a3534296 137 wait(0.2); }
ihmclachlan 1:3db7a3534296 138
ihmclachlan 0:6ca20e4aa3f0 139 wait (1);
ihmclachlan 1:3db7a3534296 140
ihmclachlan 1:3db7a3534296 141 for(float q=0.5; q>0; q -= 0.05) { // put the leaver back into place
ihmclachlan 1:3db7a3534296 142 myservo2 = q;
ihmclachlan 1:3db7a3534296 143 wait(0.2); }
ihmclachlan 1:3db7a3534296 144
ihmclachlan 0:6ca20e4aa3f0 145 wait (3); // give time for the ball to fire
ihmclachlan 0:6ca20e4aa3f0 146 t.start(); // start the timer
ihmclachlan 0:6ca20e4aa3f0 147 FMotor = 0; // turn off motors
ihmclachlan 0:6ca20e4aa3f0 148 }
ihmclachlan 0:6ca20e4aa3f0 149 }
ihmclachlan 0:6ca20e4aa3f0 150 while ( x == 0);
ihmclachlan 0:6ca20e4aa3f0 151 }
ihmclachlan 0:6ca20e4aa3f0 152 }
ihmclachlan 0:6ca20e4aa3f0 153
ihmclachlan 0:6ca20e4aa3f0 154 }