Guardians of the Galaxy / Mbed 2 deprecated PROJECTSCOOP

Presentation code for PROJECT #1 - ES200 Fall 2014

Dependencies:   Servo mbed Motor

main.cpp@4:0ed46a6cdf66, 2014-10-16 (annotated)

Committer:
cstab94
Date:
Thu Oct 16 19:16:54 2014 +0000
Revision:
4:0ed46a6cdf66
Parent:
0:80cc8025b1c0
Child:
5:cf58a6bfdd7a
compiled code, all parts work individually, but not together

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cstab94 0:80cc8025b1c0 1 //MIDN 3/C W. O'Brien, D. Thompson-Sevcik, C. Stabler
cstab94 0:80cc8025b1c0 2 //Candy scooper program for Project #1, ES200 Fall 2014
cstab94 0:80cc8025b1c0 3 //Modifications: 9 OCT- Initial code
cstab94 0:80cc8025b1c0 4
cstab94 0:80cc8025b1c0 5 #include "mbed.h"
cstab94 0:80cc8025b1c0 6 #include "Motor.h"
cstab94 0:80cc8025b1c0 7 #include "Servo.h"
cstab94 0:80cc8025b1c0 8
cstab94 4:0ed46a6cdf66 9 Servo arm(p21);
cstab94 4:0ed46a6cdf66 10 DigitalIn sw1(p16); //up
cstab94 4:0ed46a6cdf66 11 DigitalIn sw2(p17); //down
cstab94 4:0ed46a6cdf66 12 Servo scoop(p22);
cstab94 4:0ed46a6cdf66 13 DigitalIn sw3(p18); //dump
cstab94 4:0ed46a6cdf66 14 Motor kate(p26, p29, p30);//movement of structure
cstab94 4:0ed46a6cdf66 15 DigitalIn sw4(p19);
cstab94 4:0ed46a6cdf66 16 DigitalIn sw5(p20);
cstab94 4:0ed46a6cdf66 17
cstab94 4:0ed46a6cdf66 18
cstab94 4:0ed46a6cdf66 19 int main(){
cstab94 4:0ed46a6cdf66 20
cstab94 4:0ed46a6cdf66 21 float armpos;
cstab94 4:0ed46a6cdf66 22 float servopos;
cstab94 4:0ed46a6cdf66 23 float mspeed;
cstab94 4:0ed46a6cdf66 24
cstab94 4:0ed46a6cdf66 25 while(1){
cstab94 4:0ed46a6cdf66 26
cstab94 4:0ed46a6cdf66 27 if((sw1 == 1) && (sw2 == 0)){
cstab94 4:0ed46a6cdf66 28 armpos += .05;
cstab94 4:0ed46a6cdf66 29 arm = armpos;
cstab94 4:0ed46a6cdf66 30 wait(.1);
cstab94 4:0ed46a6cdf66 31 }
cstab94 4:0ed46a6cdf66 32 else if((sw1 == 0) && (sw2 == 0)){
cstab94 4:0ed46a6cdf66 33 arm = armpos;
cstab94 4:0ed46a6cdf66 34 wait(.1);
cstab94 4:0ed46a6cdf66 35 }
cstab94 4:0ed46a6cdf66 36 if((sw2 == 1) && (sw1 == 0)){
cstab94 4:0ed46a6cdf66 37 armpos -= .01;
cstab94 4:0ed46a6cdf66 38 arm = armpos;
cstab94 4:0ed46a6cdf66 39 wait(.05);
cstab94 4:0ed46a6cdf66 40 }
cstab94 4:0ed46a6cdf66 41 else if((sw2 == 0) && (sw1 == 0)){
cstab94 4:0ed46a6cdf66 42 arm = armpos;
cstab94 4:0ed46a6cdf66 43 wait(.1);
cstab94 4:0ed46a6cdf66 44 }
cstab94 4:0ed46a6cdf66 45 if (sw3 == 1) {//dump command
cstab94 4:0ed46a6cdf66 46 for (servopos = 0; servopos <= 1.0; servopos += 1.0) {
cstab94 4:0ed46a6cdf66 47 scoop = servopos;
cstab94 4:0ed46a6cdf66 48 }
cstab94 4:0ed46a6cdf66 49 wait (1);
cstab94 4:0ed46a6cdf66 50 } else if (sw3 == 0) {
cstab94 4:0ed46a6cdf66 51 for (servopos = 1.0; servopos >= 0; servopos -=1.0) {
cstab94 4:0ed46a6cdf66 52 scoop = servopos;
cstab94 4:0ed46a6cdf66 53 }
cstab94 4:0ed46a6cdf66 54 wait (1);
cstab94 4:0ed46a6cdf66 55 }
cstab94 4:0ed46a6cdf66 56 if( sw4 == 1 ) {
cstab94 4:0ed46a6cdf66 57 mspeed = 0.35;
cstab94 4:0ed46a6cdf66 58 kate.speed(mspeed);
cstab94 4:0ed46a6cdf66 59 wait(.03);
cstab94 4:0ed46a6cdf66 60 mspeed = 0.0;
cstab94 4:0ed46a6cdf66 61 kate.speed(mspeed);
cstab94 4:0ed46a6cdf66 62 wait(.05);
cstab94 4:0ed46a6cdf66 63 }
cstab94 4:0ed46a6cdf66 64 else if (sw4 == 0) {
cstab94 4:0ed46a6cdf66 65 mspeed = 0.0;
cstab94 4:0ed46a6cdf66 66 kate.speed(mspeed);
cstab94 4:0ed46a6cdf66 67 }
cstab94 4:0ed46a6cdf66 68 else if(( sw4 == 1 && sw5 == 1)){
cstab94 4:0ed46a6cdf66 69 mspeed = 0.0;
cstab94 4:0ed46a6cdf66 70 kate.speed(mspeed);
cstab94 4:0ed46a6cdf66 71 }
cstab94 4:0ed46a6cdf66 72 if( sw5 == 1 ) {
cstab94 4:0ed46a6cdf66 73 mspeed = -0.35;
cstab94 4:0ed46a6cdf66 74 kate.speed(mspeed);
cstab94 4:0ed46a6cdf66 75 wait(.03);
cstab94 4:0ed46a6cdf66 76 mspeed = 0.0;
cstab94 4:0ed46a6cdf66 77 kate.speed(mspeed);
cstab94 4:0ed46a6cdf66 78 wait(.05);
cstab94 4:0ed46a6cdf66 79
cstab94 4:0ed46a6cdf66 80 } else if (sw5 == 0) {
cstab94 4:0ed46a6cdf66 81 mspeed = 0.0;
cstab94 4:0ed46a6cdf66 82 kate.speed(mspeed);
cstab94 4:0ed46a6cdf66 83 }
cstab94 4:0ed46a6cdf66 84 else if(( sw4 == 1 && sw5 == 1)){
cstab94 4:0ed46a6cdf66 85 mspeed = 0.0;
cstab94 4:0ed46a6cdf66 86 kate.speed(mspeed);
cstab94 4:0ed46a6cdf66 87 }
cstab94 4:0ed46a6cdf66 88 }//end while
cstab94 4:0ed46a6cdf66 89 }//end main
cstab94 4:0ed46a6cdf66 90