Diff: main.cpp

Revision:

4:0ed46a6cdf66

Parent:

0:80cc8025b1c0

Child:

5:cf58a6bfdd7a

--- a/main.cpp	Thu Oct 16 18:56:58 2014 +0000
+++ b/main.cpp	Thu Oct 16 19:16:54 2014 +0000
@@ -6,13 +6,85 @@
 #include "Motor.h"
 #include "Servo.h"
  
- Motor m(p26, p29, p30);    //name of motor is 'm'
- Servo scoop(p21);          //name of claw servo is 'scoop'
- Servo arm(p22);            //name of assembly arm servo is 'arm'
-                            //Declaration of switches
-int main() {
-                            //Move scoop up and down- one switch
-                            //Move arm up and down- two swtiches (one for up and one for down) SET LIMITS!!!
-                            //Move DC motor left and right- two switches VERY SLOWLY
-                            //Set up a secret program to do a scoop-turn-dump motion all in one???
-}
+Servo arm(p21);
+DigitalIn sw1(p16); //up
+DigitalIn sw2(p17); //down
+Servo scoop(p22);
+DigitalIn sw3(p18); //dump
+Motor kate(p26, p29, p30);//movement of structure
+DigitalIn sw4(p19);
+DigitalIn sw5(p20);
+
+
+int main(){
+
+    float armpos;
+    float servopos;
+    float mspeed;
+    
+    while(1){
+       
+       if((sw1 == 1) && (sw2 == 0)){
+           armpos += .05;
+           arm = armpos;
+           wait(.1);
+        }
+        else if((sw1 == 0) && (sw2 == 0)){
+            arm = armpos;
+            wait(.1);
+        }
+        if((sw2 == 1) && (sw1 == 0)){
+            armpos -= .01;
+            arm = armpos;
+            wait(.05);
+        }
+        else if((sw2 == 0) && (sw1 == 0)){
+            arm = armpos;
+            wait(.1);
+        }
+         if (sw3 == 1) {//dump command
+            for (servopos = 0; servopos <= 1.0; servopos += 1.0) {
+                scoop = servopos;
+            }
+            wait (1);
+        } else if (sw3 == 0) {
+            for (servopos = 1.0; servopos >= 0; servopos -=1.0) {
+                scoop = servopos;
+            }
+            wait (1);
+        }
+        if( sw4 == 1 ) {
+            mspeed = 0.35;
+            kate.speed(mspeed);
+            wait(.03);
+            mspeed = 0.0;
+            kate.speed(mspeed);
+            wait(.05);
+        } 
+        else if (sw4 == 0) {
+            mspeed = 0.0;
+            kate.speed(mspeed);
+        }
+        else if(( sw4 == 1 && sw5 == 1)){ 
+            mspeed = 0.0;
+            kate.speed(mspeed);
+        }
+        if( sw5 == 1 ) {
+            mspeed = -0.35;
+            kate.speed(mspeed);
+            wait(.03);
+            mspeed = 0.0;
+            kate.speed(mspeed);
+            wait(.05);
+            
+        } else if (sw5 == 0) {
+            mspeed = 0.0;
+            kate.speed(mspeed);
+        }
+        else if(( sw4 == 1 && sw5 == 1)){ 
+            mspeed = 0.0;
+            kate.speed(mspeed);
+        }
+    }//end while
+}//end main
+