The clickers lib

Dependents:   ROCO104_Buggy BuggyDesign

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Show/hide line numbers clickers.cpp Source File

clickers.cpp

00001 #include "mbed.h"
00002 #include "motor.h"
00003 #include "clickers.h"
00004 #include "UltraSonic.h"
00005 
00006 //These externs allow variables and functiones to be used that in another folder/library 
00007 extern DigitalIn microswitch1;       //Instance of the DigitalIn class called 'microswitch1'
00008 extern DigitalIn microswitch2;       //Instance of the DigitalIn class called 'microswitch2'
00009 extern Motor Wheel;
00010 extern Serial pc;
00011 extern int mm;
00012 extern void dist();
00013 extern bool rStopped, fStopped;
00014 
00015 void RevStop()//This function will stop the buggy and change the bool to true to say the buggy has been stopped from going backwards
00016 {
00017     if (microswitch1 == true)
00018     {
00019         microswitch1.read();//Read the state of the microswitch        
00020         Wheel.Stop();//Stop wheels 
00021         rStopped = true;//Change bool state to true 
00022         dist();//Check distance
00023     }
00024 }
00025 void FwdStop()//This function will stop the buggy and change the bool to true to say the buggy has been stopped from going forwards
00026 {
00027     if (mm<= 500)//Do the following if the buggy is less than 500mm to the edge of the arena
00028     {
00029         Wheel.Stop();//Stop wheels
00030         fStopped = true;//Change bool state to true 
00031         dist();//Check distance
00032     }
00033     else
00034     {
00035 
00036         fStopped = false; //Keep bool state false
00037         dist();//Check distance
00038     }
00039 }