main.cpp

00001 //MIDN 3/C W. O'Brien, D. Thompson-Sevcik, C. Stabler
00002 //Candy scooper program for Project #1, ES200 Fall 2014
00003 //Modifications: 9 OCT- Initial code
00004 
00005 #include "mbed.h"
00006 #include "Motor.h"
00007 #include "Servo.h"
00008 
00009 Motor kate(p26, p29, p30);
00010 Servo arm(p21);
00011 Servo scoop(p22);
00012 DigitalIn sw1(p16); //up
00013 DigitalIn sw2(p17); //down
00014 DigitalIn sw3(p18); //dump
00015 DigitalIn sw4(p19);
00016 DigitalIn sw5(p20);
00017 BusOut w(p5, p6, p7, p8, p11);  //data bus for LEDs
00018 
00019 
00020 int main()
00021 {
00022 
00023     
00024     
00025     
00026 
00027     float armpos;
00028     float servopos;
00029     float mspeed;
00030     w = 16;
00031     while(1) {
00032         
00033         if( sw4 == 1 && sw5 == 0 && sw1 == 0 && sw2 == 0 ) {//while switch four is on
00034             mspeed = 0.40;
00035             kate.speed(mspeed);
00036             wait(.05);//structure move for .05 seconds
00037             mspeed = 0.0;
00038             kate.speed(mspeed);
00039             wait(.25);//structure stop for .25 seconds
00040             
00041             if(w < 1 || w > 16){
00042                 w=16; }
00043             w = w/2;    //moves LED to the right by changing binary value
00044         } else if( sw5 == 1 && sw4 == 0 && sw1 == 0 && sw2 == 0) {//while switch five is on
00045             mspeed = -0.40;
00046             kate.speed(mspeed);
00047             wait(.05);//structure moves in reverse for .05 seconds
00048             mspeed = 0.0;
00049             kate.speed(mspeed);
00050             wait(.25);//structure stops moving for .25 seconds
00051             
00052             if(w < 1 || w > 16){
00053                 w=1;
00054                 }
00055             w = w*2;//move LED to the left by changing the binary value
00056         } else if (sw3 == 1 && sw2 == 0 && sw1 == 0 && sw4 == 0 && sw5 == 0 ) {//while switch three is on
00057             for (servopos = 0; servopos <= 0.5; servopos += 0.5) {//closes the claw
00058                 scoop = servopos;
00059                 w = 8; // LED three is on
00060             }
00061             wait (1);
00062         } else if(sw1 == 1 && sw2 == 0 && sw5 == 0 && sw4 == 0 ) {//while switch one is on
00063             armpos += .02;
00064             arm = armpos;//arm position moves up by .02
00065             wait(.05);
00066             w=31;
00067             wait(.05);//lights flicker between on and off
00068             w= 0;
00069         } else if(sw2 == 1 && sw1 == 0 && sw4 == 0 && sw5 == 0) {//while stich two is on
00070             armpos -= .08;
00071             arm = armpos;//arm position moves down by .08
00072             wait(.05);
00073             w=3;
00074             wait(.25);//lights flicker between LED 1 and 2 on and LED 3, 4, and 5 on
00075             w=28;
00076         } else if (sw4 == 0 && sw1 == 0 && sw2 == 0 && sw3 == 0 && sw5 == 0) {//while all switches off
00077             mspeed = 0.0;// no movement of the structure
00078             kate.speed(mspeed);
00079             arm = armpos;// arm stays in the position
00080             wait(.1);
00081             for (servopos = 1.0; servopos >= 0; servopos -=1.0) {
00082                 scoop = servopos;//claw opens up
00083             }
00084         }
00085     }
00086 
00087 }//end main
00088