Diff: main.cpp

Revision:

6:3dc339508843

Parent:

5:27689dbb0c6e

Child:

7:adcdd7556997

--- a/main.cpp	Tue Oct 16 13:16:20 2018 +0000
+++ b/main.cpp	Tue Oct 16 13:38:55 2018 +0000
@@ -3,16 +3,19 @@
 #include "Motor.h"
 #include "math.h"
 #include "Servo.h"
+#include "rtos.h"  //need to add this library for multiple functions running at once
+
+
 
 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);
-Motor m(p26, p30, p29);
-DigitalIn sw1 (p16) ;
+AnalogIn turn(p15);  //turn dial to adjust servo for horizontal angle of arm SWITCH 2
+DigitalIn swtch1(p19); //moves herndon monument on turn table continuously while switch is on
+DigitalIn swtch3(p20); //releases the cover when switch 3 is turned on
+DigitalIn swtch4(p21); //retracts arm back to starting position to try again
+Motor m(p26, p30, p29); //launches the cover
+//DigitalIn sw1 (p16) ;     not sure why this is here - maybe broken pin
 
 Servo back(p21); //servo to move monument on turn table
 Servo angle(p22); //servo to adjust horizontal angle of arm
@@ -22,7 +25,7 @@
     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)
+    while (s1 == 1)  //moves herndon monument continuously on turn table
     {
        for (i = 0; i < 18; i++) //moves monument 180 degrees one way
        {
@@ -31,13 +34,17 @@
      s1 = swtch1.read(); //read state of switch 1
       }//end of for loop
       
-      for (i = 0; i < 35; i++)  //moves monument back and another 180 degress the opposite way
+      i=0;
+      
+      for (i = 0; i < 18; i++)  //moves monument back and another 180 degress the opposite way
        {
        back = 1;
        back = (1.0 - (i/18.0));
      s1 = swtch1.read(); //read state of switch 1
       }//end of for loop
       
+      i = 0;
+      
       }//end of while loop
       
       
@@ -56,9 +63,11 @@
     sw3.read(); //read state of switch 3 (launch the cover)
     if (sw3==1) {
         while(1) {
-            m.speed(1);
-            wait (.15);
-            m.speed(0);
+            printf("motor on");
+            m.speed(1.0);
+            wait (.4);
+            printf("motor off");
+            m.speed(0.0);
             wait (1);
             break;
         } //end of while
@@ -70,11 +79,13 @@
     sw4.read(); //read state of switch 4 (retract arm to try again)
     if (s4 == 1){
         while(1) {
+           printf("reversed");
             m.speed(-.25);
             wait(.6);
+            printf("motor off");
             m.speed(0);
             wait(1);
             break;
         } //end of while
         } //end of if
-    } //end of int main
+