Diff: main.cpp

Revision:

2:bf817b299c19

Parent:

1:8c73948a0864

Child:

3:66a52943c525

--- a/main.cpp	Thu Oct 08 19:56:17 2015 +0000
+++ b/main.cpp	Thu Oct 08 23:06:45 2015 +0000
@@ -1,26 +1,78 @@
 /*
 Using pwm to run a servo motor
 Connect the red wire of the servo motor to 3.3V and not 5V
+
+DC motor pins - p5 and p6 to control the direction of the motor
+                p23 to control the duty cycle and period                
 */
 #include "mbed.h"
-PwmOut pwm1(p21);
+PwmOut pwm1(p21);       //Servo Motor-1 PWM channel
+PwmOut pwm2(p22);       //Servo Motor-2 PWM channel
+
+DigitalOut dc1(p5);     //DC motor input-1
+DigitalOut dc2(p6);     //DC motor input-2
+PwmOut pwm3(p23);       //DC motor PWM channel
+
 Serial pc(USBTX, USBRX);
 
+void openGate();
+void closeGate();
+int currentState = 1;
+
 int main() {
+    //Setting dc1 to high and dc2 to low initially
+    dc1 = 1;
+    dc2 = 0;
+    pwm3.period_ms(20);
+    pwm3.write(0);
+    
+    //Setting the period and duty cycle for Servo motors
     pwm1.period_ms(20);
+    pwm2.period_ms(20);
+    pwm1.write(0);
+    pwm2.write(0);
     
     while(1){
         char c = pc.getc();
-        if(c=='1'){
-            pwm1.write(0);
-            wait(0.5);
-            pwm1.write(0.0375); // 3.75% duty cycle - Open the gate
+        int val = c - 48;
+        if(val==currentState){
+            pwm3.write(0);
+        }
+        else if(val > currentState){
+            //Move Up
+            dc1 = 1;
+            dc2 = 0;
+            pwm3.write(0.1);
+            wait(2);
+            pwm3.write(0);
+        }else{
+            //Move Down
+            dc1 = 0;
+            dc2 = 1;
+            pwm3.write(0.1);
+            wait(2);
+            pwm3.write(0);
         }
-        else{
-            pwm1.write(0);
-            wait(0.5);
-            pwm1.write(0.1125); // 11.25% duty cycle - Close the gate
-        }
+        currentState = val;
+        openGate();
+        closeGate();
     }
-    return 0;
+}
+
+void openGate(){
+    pwm1.write(0.0375); // 3.75% duty cycle - Open the gate
+    pwm2.write(0.1125); // 11.25% duty cycle - Open the gate
+    wait(2);            // 2 sec delay
+    pwm1.write(0);      // Stop
+    pwm2.write(0);      // Stop
+    wait(2);  
 }
+
+void closeGate(){
+    pwm1.write(0.1125); // 11.25% duty cycle - Close the gate
+    pwm2.write(0.0375); // 3.75% duty cycle - Close the gate
+    wait(2);            // 2 sec delay
+    pwm1.write(0);      // Stop
+    pwm2.write(0);      // Stop  
+    wait(2);
+}
\ No newline at end of file