Guardians of the Galaxy / Mbed 2 deprecated PROJECTSCOOP

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?

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"
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