Presentation code for PROJECT #1 - ES200 Fall 2014
Dependencies: Servo mbed Motor
main.cpp@6:18052a74ae56, 2014-10-20 (annotated)
- Committer:
- tsevcik08
- Date:
- Mon Oct 20 00:09:10 2014 +0000
- Revision:
- 6:18052a74ae56
- Parent:
- 5:cf58a6bfdd7a
- Child:
- 7:39fd13b43380
still need lights
Who changed what in which revision?
User | Revision | Line number | New 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" |
tsevcik08 | 5:cf58a6bfdd7a | 8 | |
tsevcik08 | 5:cf58a6bfdd7a | 9 | Motor kate(p26, p29, p30); |
cstab94 | 4:0ed46a6cdf66 | 10 | Servo arm(p21); |
tsevcik08 | 5:cf58a6bfdd7a | 11 | Servo scoop(p22); |
cstab94 | 4:0ed46a6cdf66 | 12 | DigitalIn sw1(p16); //up |
cstab94 | 4:0ed46a6cdf66 | 13 | DigitalIn sw2(p17); //down |
cstab94 | 4:0ed46a6cdf66 | 14 | DigitalIn sw3(p18); //dump |
cstab94 | 4:0ed46a6cdf66 | 15 | DigitalIn sw4(p19); |
cstab94 | 4:0ed46a6cdf66 | 16 | DigitalIn sw5(p20); |
tsevcik08 | 6:18052a74ae56 | 17 | DigitalOut sarah[5] = {p5, p6, p7, p8, p11}; |
cstab94 | 4:0ed46a6cdf66 | 18 | |
cstab94 | 4:0ed46a6cdf66 | 19 | |
tsevcik08 | 5:cf58a6bfdd7a | 20 | int main() |
tsevcik08 | 5:cf58a6bfdd7a | 21 | { |
cstab94 | 4:0ed46a6cdf66 | 22 | |
cstab94 | 4:0ed46a6cdf66 | 23 | float armpos; |
cstab94 | 4:0ed46a6cdf66 | 24 | float servopos; |
cstab94 | 4:0ed46a6cdf66 | 25 | float mspeed; |
tsevcik08 | 5:cf58a6bfdd7a | 26 | |
tsevcik08 | 6:18052a74ae56 | 27 | |
tsevcik08 | 5:cf58a6bfdd7a | 28 | while(1) { |
tsevcik08 | 5:cf58a6bfdd7a | 29 | if( sw4 == 1 && sw5 == 0 && sw1 == 0 && sw2 == 0 ) { |
cstab94 | 4:0ed46a6cdf66 | 30 | mspeed = 0.35; |
cstab94 | 4:0ed46a6cdf66 | 31 | kate.speed(mspeed); |
cstab94 | 4:0ed46a6cdf66 | 32 | wait(.03); |
cstab94 | 4:0ed46a6cdf66 | 33 | mspeed = 0.0; |
cstab94 | 4:0ed46a6cdf66 | 34 | kate.speed(mspeed); |
cstab94 | 4:0ed46a6cdf66 | 35 | wait(.05); |
tsevcik08 | 6:18052a74ae56 | 36 | sarah[3] = 1; |
tsevcik08 | 5:cf58a6bfdd7a | 37 | } else if( sw5 == 1 && sw4 == 0 && sw1 == 0 && sw2 == 0) { |
cstab94 | 4:0ed46a6cdf66 | 38 | mspeed = -0.35; |
cstab94 | 4:0ed46a6cdf66 | 39 | kate.speed(mspeed); |
cstab94 | 4:0ed46a6cdf66 | 40 | wait(.03); |
cstab94 | 4:0ed46a6cdf66 | 41 | mspeed = 0.0; |
cstab94 | 4:0ed46a6cdf66 | 42 | kate.speed(mspeed); |
cstab94 | 4:0ed46a6cdf66 | 43 | wait(.05); |
tsevcik08 | 5:cf58a6bfdd7a | 44 | } else if (sw3 == 1 && sw2 == 0 && sw1 == 0 && sw4 == 0 && sw5 == 0 ) { |
tsevcik08 | 6:18052a74ae56 | 45 | for (servopos = 0; servopos <= 0.5; servopos += 0.5) { |
tsevcik08 | 5:cf58a6bfdd7a | 46 | scoop = servopos; |
tsevcik08 | 5:cf58a6bfdd7a | 47 | } |
tsevcik08 | 5:cf58a6bfdd7a | 48 | wait (1); |
tsevcik08 | 5:cf58a6bfdd7a | 49 | } else if(sw1 == 1 && sw2 == 0 && sw5 == 0 && sw4 == 0 ) { |
tsevcik08 | 5:cf58a6bfdd7a | 50 | armpos += .01; |
tsevcik08 | 5:cf58a6bfdd7a | 51 | arm = armpos; |
tsevcik08 | 5:cf58a6bfdd7a | 52 | wait(.05); |
tsevcik08 | 5:cf58a6bfdd7a | 53 | } else if(sw2 == 1 && sw1 == 0 && sw4 == 0 && sw5 == 0) { |
tsevcik08 | 5:cf58a6bfdd7a | 54 | armpos -= .01; |
tsevcik08 | 5:cf58a6bfdd7a | 55 | arm = armpos; |
tsevcik08 | 5:cf58a6bfdd7a | 56 | wait(.05); |
tsevcik08 | 5:cf58a6bfdd7a | 57 | } else if (sw4 == 0 && sw1 == 0 && sw2 == 0 && sw3 == 0 && sw5 == 0) { |
cstab94 | 4:0ed46a6cdf66 | 58 | mspeed = 0.0; |
cstab94 | 4:0ed46a6cdf66 | 59 | kate.speed(mspeed); |
tsevcik08 | 5:cf58a6bfdd7a | 60 | arm = armpos; |
tsevcik08 | 5:cf58a6bfdd7a | 61 | wait(.1); |
tsevcik08 | 5:cf58a6bfdd7a | 62 | for (servopos = 1.0; servopos >= 0; servopos -=1.0) { |
tsevcik08 | 5:cf58a6bfdd7a | 63 | scoop = servopos; |
tsevcik08 | 5:cf58a6bfdd7a | 64 | } |
cstab94 | 4:0ed46a6cdf66 | 65 | } |
tsevcik08 | 5:cf58a6bfdd7a | 66 | } |
tsevcik08 | 5:cf58a6bfdd7a | 67 | |
cstab94 | 4:0ed46a6cdf66 | 68 | }//end main |
cstab94 | 4:0ed46a6cdf66 | 69 |