Diff: main.cpp

Revision:

0:6ca20e4aa3f0

Child:

1:3db7a3534296

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Nov 28 15:54:44 2017 +0000
@@ -0,0 +1,134 @@
+/**************************************************************
+/ ME31001 Group: 1-04
+/
+/ Final Project
+/
+/ The program controls the operation of a ball launcher that fires a
+ ball in a random direction and changes distance fired based on how long
+ it took ball to be returned
+/**************************************************************/
+
+#include "mbed.h"
+#include "Servo.h"
+#include "stdlib.h"
+#include "time.h"
+
+
+PwmOut FMotor(p23); // set the firing motors as an output
+Servo myservo1 (p22); // servo to rotate the base 
+Servo myservo2 (p21); // servo to release the ball
+
+DigitalIn PB(p17);  // a push button that when switched turns on the program and when switched again turns it off
+DigitalIn LDR(p19); // An LDR sensor to check if the ball is in the right position 
+
+Timer t; // we need a timer to see how long it has been since the ball was in the chute
+
+int main() {
+  
+  int x = 0; // a counter to check if the push button switch has been pressed
+  
+    while(1) {
+  
+        if (PB.read() == 1) //if the pushbutton is pressed then we change the variable x
+        {
+            x = !x;
+            wait (0.25);
+            }
+            
+            
+        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
+         {
+            if (LDR) {  // if the ball is in position
+                FMotor.period(0.010); // set PWM period to 10 ms
+                FMotor = 0.5; // start the motors at 50% duty cycle
+                
+             int r = rand() % 50; // make r be a random number between 1 and 50
+                
+                
+                 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
+                    myservo1 = p;
+                    int r = rand() % 50;
+                       wait(0.2); }
+                
+                for(float p=1; p>0 && r != 35; p -= 0.05) { 
+                         myservo1 = p;
+                   int r = rand() % 50;
+                         wait(0.2);
+        }
+            
+                myservo2 = 1; // remove the lever holding the ball up
+                wait (1);
+                myservo2 = 0;  // put the leaver back into place
+                wait (3); // give time for the ball to fire
+                t.start(); // start the timer
+                FMotor = 0; // turn off motors
+                
+                }
+           do   // create a new loop so that the program doesn't keep on repeating the first part 
+           {     
+                
+        if (LDR) {  // see if the ball is back in position in position    
+                t.stop(); // stop the timer to see how long it took the ball to get back
+                }
+                
+            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
+                FMotor.period(0.010); // set PWM period to 10 ms
+                FMotor = 1; // start the motors at 100% duty cycle
+                
+             int r = rand() % 50; // make r be a random number between 1 and 50
+                
+                
+                   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
+                    myservo1 = p;
+                    int r = rand() % 50;
+                       wait(0.2); }
+                
+                for(float p=1; p>0 && r != 35; p -= 0.05) { 
+                         myservo1 = p;
+                   int r = rand() % 50;
+                         wait(0.2);
+        }
+            
+                myservo2 = 1; // remove the lever holding the ball up
+                wait (1);
+                myservo2 = 0;  // put the leaver back into place
+                wait (3); // give time for the ball to fire
+                t.start(); // start the timer
+                FMotor = 0; // turn off motors
+                
+        
+     if (LDR) {  // see if the ball is back in position in position    
+                t.stop(); // stop the timer to see how long it took the ball to get back
+                }
+          }
+          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
+                FMotor.period(0.010); // set PWM period to 10 ms
+                FMotor = 0.25; // start the motors at 25% duty cycle
+                
+             int r = rand() % 50; // make r be a random number between 1 and 50
+                
+                
+                  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
+                    myservo1 = p;
+                    int r = rand() % 50;
+                       wait(0.2); }
+                
+                for(float p=1; p>0 && r != 35; p -= 0.05) { 
+                         myservo1 = p;
+                   int r = rand() % 50;
+                         wait(0.2);
+        }
+            
+                myservo2 = 1; // remove the lever holding the ball up
+                wait (1);
+                myservo2 = 0;  // put the leaver back into place
+                wait (3); // give time for the ball to fire
+                t.start(); // start the timer
+                FMotor = 0; // turn off motors
+                }    
+            }
+        while ( x == 0);
+        }
+    }
+  
+}