Diff: main.cpp

Revision:

2:c23c90a74ac6

Parent:

1:852f86d263c8

Child:

3:48d837d59ae7

diff -r 852f86d263c8 -r c23c90a74ac6 main.cpp
--- a/main.cpp	Thu Oct 18 19:10:52 2018 +0000
+++ b/main.cpp	Tue Oct 23 23:12:44 2018 +0000
@@ -2,8 +2,8 @@
 #include "Servo.h"
 #include "Motor.h"
 
-Servo myservo(p21);
-Servo myservo2(p22);
+Servo clamp(p21);
+Servo toppings(p22);
 Motor m(p26,p30,p29);
 DigitalIn sw1(p15), sw2(p16), sw3(p17), sw4(p18), sw5(p19);
 BusOut lights(p5,p6,p7,p10,p11);
@@ -11,34 +11,38 @@
 
 int main()
 {
+    clamp.calibrate(0.0009,90); 
+    toppings.calibrate(0.0009, 90);
     while(1) 
     {
         wait(0.5);
-        if(sw5==1) { //servo1 off
+        if(sw5==1) { //clamp open, dc motor off
             lights=31;
-            printf("light 5 is on\n\r");
+            printf("light 5 is on\n\r");//Prof said to leave this in to prove our code works
+            clamp=0.0;
+            m.speed(0.0);
         }
-        else if(sw4==1) { //dc motor off
+        else if(sw4==1) { //dc motor off and reset toppings
             lights=15;
-            printf("light 4 is on\n\r");
+            printf("light 4 is on\n\r");//Prof said to leave this is to prove our code works
             m.speed(0.0);
+            toppings=0.0;
             }
-        else if(sw3==1) { //servo2 on
+        else if(sw3==1) { //toppings dump
             lights=7;
-            printf("light 3 is on\n\r");
+            toppings=0.5;
             }
         else if(sw2==1) { //dc motor on
             lights=3;
-            printf("light 2 is on\n\r");
             m.speed(1.0);
             }
-        else if(sw1==1) { //servo1 comes on
+        else if(sw1==1) { //clamp turns on
             lights=1;
-             printf("light 1 is on\n\r");
             }
         else {
-            lights=0; //no switches on = no lights or motors on
-            m.speed(0.0);}
+            lights=0; //no switches on = no lights, DC motor off
+            m.speed(0.0);
+            }
         
     }
 }