main.cpp

00001 #include "mbed.h"
00002 #include "Servo.h"
00003 #include "Motor.h"
00004 
00005 Servo clamp(p21);
00006 Servo toppings(p22);
00007 Motor m(p26,p30,p29);
00008 DigitalIn sw1(p15), sw2(p16), sw3(p17), sw4(p18), sw5(p19);
00009 BusOut lights(p5,p6,p7,p8,p9);
00010 
00011 
00012 int main()
00013 {
00014     clamp.calibrate(0.0009,90); 
00015     toppings.calibrate(0.0009, 90);
00016     toppings=1.0;
00017     while(1) 
00018     {
00019         wait(0.5);
00020         if(sw5==1) { //clamp open, dc motor off
00021             lights=31;
00022             printf("light 5 is on\n\r");//Prof said to leave this in to prove our code works
00023             m.speed(0.0);
00024             wait(0.02);
00025             clamp=0.5;
00026         }
00027         else if(sw4==1) { //dc motor on
00028             lights=15;
00029             printf("light 4 is on\n\r");//Prof said to leave this is to prove our code works
00030             m.speed(0.5);
00031             }
00032         else if(sw3==1) { //toppings return
00033             lights=7;
00034             toppings=1.0;
00035             }
00036         else if(sw2==1) { //toppings dump
00037             lights=3;
00038             toppings=0.8;
00039             
00040             }
00041         else if(sw1==1) { //clamp turns on
00042             lights=1;
00043             clamp=0.12;
00044             }
00045         else {
00046             lights=0; //no switches on = no lights, DC motor off
00047             m.speed(0.0);
00048             }
00049         
00050     }
00051 }