Revision 6:f76e93f043e2, committed 2018-11-05

Comitter:

nhersom

Date:

Mon Nov 05 12:53:56 2018 +0000

Parent:

5:226dfa7d6308

Commit message:

Final code

Changed in this revision

--- a/main.cpp	Tue Oct 23 01:00:41 2018 +0000
+++ b/main.cpp	Mon Nov 05 12:53:56 2018 +0000
@@ -23,12 +23,11 @@
 //DigitalIn sw1 (p16) ;     not sure why this is here - maybe broken pin
 
 // You guys are supposed to include at least a few EXTERNAL leds. 
-DigitalOut heartbeat_led(LED1); // indicates heartbeat
-DigitalOut aiming_led(LED2); // indicates aiming state
-DigitalOut firing_led(LED3); // indicates firing
-DigitalOut recycle_led(LED4); // indicates recycling 
+DigitalOut heartbeat_led(p5); // indicates heartbeat
+DigitalOut aiming_led(p6); // indicates aiming state
+DigitalOut firing_led(p7); // indicates firing
+DigitalOut recycle_led(p8); // indicates recycling 
 
-DigitalOut LEDs[5]={p25, p26, p27, p28, p29}; // possible LEDs that can be lit
 
 
 // Herndon wiggling thread stuff
@@ -82,19 +81,19 @@
         pc.printf("main() entering aiming mode, turn dial to aim cover\r\n"); 
         aiming_led.write(1); 
         while(!launch_sw3.read()){
-            LEDs[0] = 1;
+             printf("traverse_pot.read()");
             pc.printf("main() aiming, dial at %f, servo at %f\r\n",traverse_pot.read(),traverse_servo.read()); 
             traverse_servo.write(traverse_pot.read());
+           
             ThisThread::sleep_for(200); 
             }
         aiming_led.write(0); 
         
         // firing state
         firing_led.write(1); 
-        LEDs[1] = 1;
         pc.printf("main() thread entering cover launch sequence\r\n"); 
         pc.printf("main() thread motor launch cover\r\n");
-        launch_motor.speed(1.0);
+        launch_motor.speed(-1.0);
         ThisThread::sleep_for(400);
         pc.printf("main() thread motor off\r\n"); 
         launch_motor.speed(0.0); 
@@ -107,23 +106,17 @@
         
         // recovery state
         recycle_led.write(1); 
-        LEDs[3] = 1;
         pc.printf("main() thread recycling catapult back to battery\r\n"); 
         pc.printf("main() thread motor reversing back to battery \r\n");
-        launch_motor.speed(-0.25);
+        launch_motor.speed(0.25);
         ThisThread::sleep_for(600); 
         pc.printf("main() thread motor off\r\n");
         launch_motor.speed(0.0);
         ThisThread::sleep_for(1000); 
         pc.printf("main() thread back in battery\r\n"); 
         recycle_led.write(0); 
-        
         }// while(1)
-    LEDs[0] = 0;
-    LEDs[1] = 0;
-    LEDs[2] = 0;
-    LEDs[3] = 0;
-    LEDs[4] = 0;
+    
 
 } // main()
 
@@ -155,8 +148,9 @@
                 x = 1.0;
                 xinc = -0.1; // switch to moving left
                 pc.printf("herndon_thread hit right end, now moving left\r\n");
+        
             } // hit the right end
-            LEDs[4] = 1;
+            
             else if (x < 0.0) {
                 x = 0.0;
                 xinc = 0.1; // switch to moving right
@@ -189,7 +183,6 @@
     
     // heartbeat_thread loop here
     while(1) {
-        LEDs[2] = 1;
         heartbeat_led = !heartbeat_led;
         ThisThread::sleep_for(500);
     } // while(1)