Diff: main.cpp

Revision:

5:27689dbb0c6e

Parent:

4:a3e95c9d56d5

Child:

6:3dc339508843

--- a/main.cpp	Wed Oct 10 12:33:06 2018 +0000
+++ b/main.cpp	Tue Oct 16 13:16:20 2018 +0000
@@ -6,30 +6,32 @@
 
 int s1, s3, s4, i;
 float x;
+float y;
+AnalogIn turn(p15);  //turn dial to adjust servo for horizontal angle of arm
 DigitalIn swtch1(p19);
 DigitalIn swtch3(p20);
 DigitalIn swtch4(p21);
-AnalogIn turn(p22);
 Motor m(p26, p30, p29);
 DigitalIn sw1 (p16) ;
 
-Servo back(p21);
-Servo angle(p22);
+Servo back(p21); //servo to move monument on turn table
+Servo angle(p22); //servo to adjust horizontal angle of arm
 
 int main() {
     s1 = swtch1.read(); //read state of switch 1
+    angle.calibrate(0.0009, 90.0);
     back.calibrate(0.0009, 90.0); //calculate's servos timing by setting pulse width and range
     
     while (s1 == 1)
     {
-       for (i = 0; i < 18; i++) //moves monument forward
+       for (i = 0; i < 18; i++) //moves monument 180 degrees one way
        {
        back = 0;
        back = (0.0 + (i/18.0));
      s1 = swtch1.read(); //read state of switch 1
       }//end of for loop
       
-      for (i = 0; i < 35; i++)  //moves monument backwards
+      for (i = 0; i < 35; i++)  //moves monument back and another 180 degress the opposite way
        {
        back = 1;
        back = (1.0 - (i/18.0));
@@ -39,29 +41,40 @@
       }//end of while loop
       
       
-      while (1)
-      {
-        x = turn.read();
-        angle = x;
-        wait (.05);
-          
-          } //end of while loop
+      
+//Adjust horiztonal angle with switch 2/dial    
+       while(1) {
+    y = turn.read(); //reads the state of the dial the user changes
+        printf("The dial is at %f\n", x);
+    angle.write(y);  //makes the servo turn according to the dial
+        printf("The servo is at %f\n", x);
+   
+} //end of while loop
+
+
     
-    sw1.read();
-    if (sw1==1) {
+    sw3.read(); //read state of switch 3 (launch the cover)
+    if (sw3==1) {
         while(1) {
             m.speed(1);
             wait (.15);
             m.speed(0);
             wait (1);
             break;
-        }
+        } //end of while
+        } //end of if
+        
+        
+        
+        
+    sw4.read(); //read state of switch 4 (retract arm to try again)
+    if (s4 == 1){
         while(1) {
             m.speed(-.25);
             wait(.6);
             m.speed(0);
             wait(1);
             break;
-        }
-        }
+        } //end of while
+        } //end of if
     } //end of int main