Fa2018-es200-1121-project2-herndon-toss / Mbed 2 deprecated Project2

Start of project 2

Dependencies:   Motor Servo mbed mbed-rtos

main.cpp@7:adcdd7556997, 2018-10-22 (annotated)

Committer:
m215676
Date:
Mon Oct 22 00:18:49 2018 +0000
Revision:
7:adcdd7556997
Parent:
6:3dc339508843 
10/21

Who changed what in which revision?

UserRevisionLine numberNew contents of line
m215676 0:9347308e8e1a 1 #include "mbed.h"
m215676 0:9347308e8e1a 2 #include "stdio.h"
m215676 0:9347308e8e1a 3 #include "Motor.h"
m215676 0:9347308e8e1a 4 #include "math.h"
m215676 2:60a8105d0d20 5 #include "Servo.h"
m215676 6:3dc339508843 6 #include "rtos.h" //need to add this library for multiple functions running at once
m215676 6:3dc339508843 7
m215676 6:3dc339508843 8
m215676 0:9347308e8e1a 9
m215676 1:7133819e4265 10 int s1, s3, s4, i;
m215676 2:60a8105d0d20 11 float x;
m215676 5:27689dbb0c6e 12 float y;
m215676 6:3dc339508843 13 AnalogIn turn(p15); //turn dial to adjust servo for horizontal angle of arm SWITCH 2
m215676 7:adcdd7556997 14 DigitalIn swtch1(p25); //moves herndon monument on turn table continuously while switch is on
m215676 7:adcdd7556997 15 DigitalIn swtch3(p18); //releases the cover when switch 3 is turned on
m215676 7:adcdd7556997 16 DigitalIn swtch4(p19); //retracts arm back to starting position to try again
m215676 6:3dc339508843 17 Motor m(p26, p30, p29); //launches the cover
m215676 6:3dc339508843 18 //DigitalIn sw1 (p16) ; not sure why this is here - maybe broken pin
m215676 1:7133819e4265 19
m215676 5:27689dbb0c6e 20 Servo back(p21); //servo to move monument on turn table
m215676 5:27689dbb0c6e 21 Servo angle(p22); //servo to adjust horizontal angle of arm
m215676 0:9347308e8e1a 22
m215676 0:9347308e8e1a 23 int main() {
m215676 7:adcdd7556997 24 /*
m215676 1:7133819e4265 25 s1 = swtch1.read(); //read state of switch 1
m215676 5:27689dbb0c6e 26 angle.calibrate(0.0009, 90.0);
m215676 1:7133819e4265 27 back.calibrate(0.0009, 90.0); //calculate's servos timing by setting pulse width and range
m215676 0:9347308e8e1a 28
m215676 6:3dc339508843 29 while (s1 == 1) //moves herndon monument continuously on turn table
m215676 1:7133819e4265 30 {
m215676 5:27689dbb0c6e 31 for (i = 0; i < 18; i++) //moves monument 180 degrees one way
m215676 1:7133819e4265 32 {
m215676 1:7133819e4265 33 back = 0;
m215676 1:7133819e4265 34 back = (0.0 + (i/18.0));
m215676 1:7133819e4265 35 s1 = swtch1.read(); //read state of switch 1
m215676 1:7133819e4265 36 }//end of for loop
m215676 1:7133819e4265 37
m215676 6:3dc339508843 38 i=0;
m215676 6:3dc339508843 39
m215676 6:3dc339508843 40 for (i = 0; i < 18; i++) //moves monument back and another 180 degress the opposite way
m215676 1:7133819e4265 41 {
m215676 1:7133819e4265 42 back = 1;
m215676 1:7133819e4265 43 back = (1.0 - (i/18.0));
m215676 1:7133819e4265 44 s1 = swtch1.read(); //read state of switch 1
m215676 1:7133819e4265 45 }//end of for loop
m215676 1:7133819e4265 46
m215676 6:3dc339508843 47 i = 0;
m215676 6:3dc339508843 48
m215676 1:7133819e4265 49 }//end of while loop
m215676 1:7133819e4265 50
m215676 2:60a8105d0d20 51
m215676 5:27689dbb0c6e 52
m215676 5:27689dbb0c6e 53 //Adjust horiztonal angle with switch 2/dial
m215676 5:27689dbb0c6e 54 while(1) {
m215676 5:27689dbb0c6e 55 y = turn.read(); //reads the state of the dial the user changes
m215676 5:27689dbb0c6e 56 printf("The dial is at %f\n", x);
m215676 5:27689dbb0c6e 57 angle.write(y); //makes the servo turn according to the dial
m215676 5:27689dbb0c6e 58 printf("The servo is at %f\n", x);
m215676 5:27689dbb0c6e 59
m215676 5:27689dbb0c6e 60 } //end of while loop
m215676 5:27689dbb0c6e 61
m215676 7:adcdd7556997 62 */
m215676 7:adcdd7556997 63 while(1) {
nhersom 4:a3e95c9d56d5 64
m215676 7:adcdd7556997 65 swtch3.read(); //read state of switch 3 (launch the cover)
m215676 7:adcdd7556997 66 if (swtch3==1) {
nhersom 3:50cee0fef078 67 while(1) {
m215676 6:3dc339508843 68 printf("motor on");
m215676 6:3dc339508843 69 m.speed(1.0);
m215676 6:3dc339508843 70 wait (.4);
m215676 6:3dc339508843 71 printf("motor off");
m215676 6:3dc339508843 72 m.speed(0.0);
nhersom 3:50cee0fef078 73 wait (1);
nhersom 3:50cee0fef078 74 break;
m215676 5:27689dbb0c6e 75 } //end of while
m215676 5:27689dbb0c6e 76 } //end of if
m215676 5:27689dbb0c6e 77
m215676 5:27689dbb0c6e 78
m215676 5:27689dbb0c6e 79
m215676 5:27689dbb0c6e 80
m215676 7:adcdd7556997 81 s4 = swtch4.read(); //read state of switch 4 (retract arm to try again)
m215676 5:27689dbb0c6e 82 if (s4 == 1){
nhersom 3:50cee0fef078 83 while(1) {
m215676 6:3dc339508843 84 printf("reversed");
nhersom 3:50cee0fef078 85 m.speed(-.25);
nhersom 3:50cee0fef078 86 wait(.6);
m215676 6:3dc339508843 87 printf("motor off");
nhersom 3:50cee0fef078 88 m.speed(0);
nhersom 3:50cee0fef078 89 wait(1);
nhersom 3:50cee0fef078 90 break;
m215676 5:27689dbb0c6e 91 } //end of while
m215676 5:27689dbb0c6e 92 } //end of if
m215676 7:adcdd7556997 93 }//end of int main
m215676 7:adcdd7556997 94 }