Diff: main.cpp

Revision:

2:ecf535666eb3

Parent:

1:88e499bfdcc7

--- a/main.cpp	Wed Oct 03 18:31:18 2018 +0000
+++ b/main.cpp	Thu Oct 11 17:44:55 2018 +0000
@@ -1,29 +1,42 @@
-
+//Lab2_4
+//Code demonstrates how to use outputs and inputs within a loop
+//Written by: MIDN 3/C Caicedo and MIDN 3/C Eckert
+//Modified:
+//          9/27/18 Eckert and Caicedo. Program created
+//          10/1/18 Caicedo. Modified servo portion of code
+//          10/3/18 Eckert. Added DC motor into servo motor coding
 #include "mbed.h"
 #include "Servo.h"
 #include "Motor.h"
 
-Servo myservo(p21);
-Servo myservo2(p22);
-Motor(PinName pwm, PinName fwd, PinName rev):
+Servo myservo(p21); //pin associated with first servo motor
+Servo myservo2(p22); // pin associated with second servo motor
+Motor m(p26,p29,p30); //pins associated with DC motor
 
-    int i;
+float i; //variable for servo motor control
+float f; //variable for DC motor control
 
 int main()
 {
-    myservo.calibrate(0.0009,90);
+    myservo.calibrate(0.0009,90); //servo calibration
     myservo2.calibrate(0.0009, 90);
 
     while(1) {
-        for( i=0; i<180; i++) {
-            myservo = i/180.0;
-            myservo2=(180.0-i)/180.0;
-            wait(0.025);
+        for(f=.2; f<=1; f+=.1) { //for loop controlling DC motor
+            m.speed(f); //speed of DC motor
+            printf("speed is %f\n\r", f); //print statement to ensure speed of motor is correct
+            for( i=0; i<180; i++) { //for loop controlling first part of servo motor motion
+                myservo = i/180.0; //first servo moves forward
+                myservo2=(180.0-i)/180.0; //second servo moves opposite
+                wait(.025);
+            }
+            m.speed(-f); //direction of DC motor changes
+            printf("speed is - %f\n\r", f);
+            for( i=180; i>0; i--) {//loop controlling return of servo motors
+                myservo = i/180.0;
+                myservo2=(180.0-i)/180.0;
+                wait(.025);
+            }
         }
-        for( i=180; i>0; i--) {
-            myservo = i/180.0;
-            myservo2=(180.0-i)/180.0;
-            wait(0.025);
+    }
 }
-}
-}