MRJJ / clickers

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Dependents:   ROCO104_Buggy BuggyDesign

clickers.cpp@3:91541ffdf9a5, 2020-03-17 (annotated)

Committer:
Mikebob
Date:
Tue Mar 17 13:13:46 2020 +0000
Revision:
3:91541ffdf9a5
Parent:
2:2571dd52276f
Child:
4:595e353826e5
.;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Mikebob 0:cfb1fcccadd6 1 #include "mbed.h"
Mikebob 0:cfb1fcccadd6 2 #include "motor.h"
Mikebob 0:cfb1fcccadd6 3 #include "clickers.h"
jakesmart 2:2571dd52276f 4 #include "UltraSonic.h"
Mikebob 0:cfb1fcccadd6 5
Mikebob 0:cfb1fcccadd6 6 extern DigitalIn microswitch1; //Instance of the DigitalIn class called 'microswitch1'
Mikebob 0:cfb1fcccadd6 7 extern DigitalIn microswitch2; //Instance of the DigitalIn class called 'microswitch2'
Mikebob 0:cfb1fcccadd6 8 extern Motor Wheel;
Mikebob 1:d5b76569b45c 9 extern Serial pc;
Mikebob 1:d5b76569b45c 10 extern int mm;
jakesmart 2:2571dd52276f 11 extern void dist();
jakesmart 2:2571dd52276f 12 extern bool rStopped, fStopped;
Mikebob 3:91541ffdf9a5 13 int countDis = 0;
Mikebob 0:cfb1fcccadd6 14 void RevStop()
Mikebob 0:cfb1fcccadd6 15 {
Mikebob 3:91541ffdf9a5 16 if (microswitch1 == true)
Mikebob 0:cfb1fcccadd6 17 {
jakesmart 2:2571dd52276f 18 microswitch1.read();
Mikebob 0:cfb1fcccadd6 19 Wheel.Stop();
jakesmart 2:2571dd52276f 20 rStopped = true;
Mikebob 3:91541ffdf9a5 21 dist();
jakesmart 2:2571dd52276f 22 }
Mikebob 3:91541ffdf9a5 23 }
jakesmart 2:2571dd52276f 24 void FwdStop()
jakesmart 2:2571dd52276f 25 {
Mikebob 3:91541ffdf9a5 26 dist();
Mikebob 3:91541ffdf9a5 27 if (mm<= 500)
Mikebob 3:91541ffdf9a5 28 {
Mikebob 3:91541ffdf9a5 29 countDis++;
Mikebob 3:91541ffdf9a5 30 dist();
Mikebob 3:91541ffdf9a5 31 }
Mikebob 3:91541ffdf9a5 32 else if (mm<= 500 && countDis > 20)
jakesmart 2:2571dd52276f 33 {
jakesmart 2:2571dd52276f 34 Wheel.Stop();
Mikebob 3:91541ffdf9a5 35 fStopped = true;
Mikebob 3:91541ffdf9a5 36 dist();
Mikebob 3:91541ffdf9a5 37 }
Mikebob 3:91541ffdf9a5 38 else
Mikebob 3:91541ffdf9a5 39 {
Mikebob 3:91541ffdf9a5 40 countDis = 0;
Mikebob 3:91541ffdf9a5 41 fStopped = false;
jakesmart 2:2571dd52276f 42 dist();
Mikebob 0:cfb1fcccadd6 43 }
Mikebob 0:cfb1fcccadd6 44 }