Systems Project / Mbed 2 deprecated project

Project

Dependencies:   Motor Servo mbed

project.cpp@5:429bbb7077e9, 2018-10-25 (annotated)

Committer:
corwinstites
Date:
Thu Oct 25 15:03:53 2018 +0000
Revision:
5:429bbb7077e9
Parent:
4:b3bd945920cd 
updated

Who changed what in which revision?

UserRevisionLine numberNew contents of line
corwinstites 0:17c1875334d9 1 #include "mbed.h"
corwinstites 0:17c1875334d9 2 #include "Servo.h"
corwinstites 0:17c1875334d9 3 #include "Motor.h"
corwinstites 0:17c1875334d9 4
corwinstites 1:ed0f48d7be99 5 void mov1(void); // Defining functions
corwinstites 1:ed0f48d7be99 6 void mov2(void);
corwinstites 1:ed0f48d7be99 7 void mov3(void);
corwinstites 1:ed0f48d7be99 8
corwinstites 1:ed0f48d7be99 9 Servo uparm(p21); // Assigns pins to servo
corwinstites 0:17c1875334d9 10 Servo lowarm(p22);
corwinstites 1:ed0f48d7be99 11 Motor table(p26, p29, p30); // Assigns DC pins
corwinstites 1:ed0f48d7be99 12
corwinstites 1:ed0f48d7be99 13 DigitalIn base(p20); // Assigns switch pins
corwinstites 0:17c1875334d9 14 DigitalIn s2(p19);
corwinstites 0:17c1875334d9 15 DigitalIn s3(p18);
corwinstites 0:17c1875334d9 16 DigitalIn s4(p17);
corwinstites 4:b3bd945920cd 17 DigitalOut lights[5] = {p5,p6,p7,p8,p11}; // Assigns LED pens
corwinstites 1:ed0f48d7be99 18
corwinstites 5:429bbb7077e9 19 int a,b,c,d;
corwinstites 0:17c1875334d9 20
corwinstites 0:17c1875334d9 21 int main()
corwinstites 0:17c1875334d9 22 {
corwinstites 1:ed0f48d7be99 23
corwinstites 1:ed0f48d7be99 24 uparm.calibrate(0.0009,90);// calibrates arm loaations
corwinstites 1:ed0f48d7be99 25 lowarm.calibrate(0.0009,90);
corwinstites 1:ed0f48d7be99 26 uparm = .5; // halfway points
corwinstites 1:ed0f48d7be99 27 lowarm = .5;
corwinstites 1:ed0f48d7be99 28
corwinstites 1:ed0f48d7be99 29
corwinstites 1:ed0f48d7be99 30 while(1){ // continuous while statement
corwinstites 1:ed0f48d7be99 31
corwinstites 1:ed0f48d7be99 32 a = base.read(); // reads in switch values
corwinstites 1:ed0f48d7be99 33 b = s2.read();
corwinstites 1:ed0f48d7be99 34 c = s3.read();
corwinstites 1:ed0f48d7be99 35 d = s4.read();
corwinstites 1:ed0f48d7be99 36
corwinstites 1:ed0f48d7be99 37 if (a==0) { // if switch one is off, entire program does not turn on and arms calibrate
corwinstites 1:ed0f48d7be99 38 table.speed(0);
corwinstites 1:ed0f48d7be99 39 uparm = .5;
corwinstites 1:ed0f48d7be99 40 lowarm = .5;
corwinstites 5:429bbb7077e9 41 lights[0]=1;
corwinstites 1:ed0f48d7be99 42 lights[1]=0;
corwinstites 1:ed0f48d7be99 43 lights[2]=0;
corwinstites 1:ed0f48d7be99 44 lights[3]=0;
corwinstites 1:ed0f48d7be99 45 lights[4]=0;
corwinstites 1:ed0f48d7be99 46 } // end if
corwinstites 1:ed0f48d7be99 47
corwinstites 1:ed0f48d7be99 48 else if (a==1 && b==0 && c==0 && d==0)
corwinstites 1:ed0f48d7be99 49 { // if only switch one is on, lights are on and table spins.
corwinstites 5:429bbb7077e9 50 table.speed(.4);
corwinstites 5:429bbb7077e9 51 lights[0]=1;
corwinstites 5:429bbb7077e9 52 lights[1]=1;
corwinstites 5:429bbb7077e9 53 lights[2]=0;
corwinstites 5:429bbb7077e9 54 lights[3]=0;
corwinstites 5:429bbb7077e9 55 lights[4]=0;
corwinstites 5:429bbb7077e9 56 printf("Turning");
corwinstites 1:ed0f48d7be99 57 } // end if
corwinstites 1:ed0f48d7be99 58
corwinstites 1:ed0f48d7be99 59 else if (a==1 && b==1 && c==0 && d==0){ // if switches one and two are on, table spins, and movement 1 happens
corwinstites 5:429bbb7077e9 60 table.speed(.4);
corwinstites 5:429bbb7077e9 61 lights[0]=1;
corwinstites 5:429bbb7077e9 62 lights[1]=1;
corwinstites 5:429bbb7077e9 63 lights[2]=1;
corwinstites 5:429bbb7077e9 64 lights[3]=0;
corwinstites 5:429bbb7077e9 65 lights[4]=0;
corwinstites 1:ed0f48d7be99 66 mov1();
corwinstites 5:429bbb7077e9 67
corwinstites 1:ed0f48d7be99 68 } // end if
corwinstites 1:ed0f48d7be99 69 else if (a==1 && b==0 && c==1 && d==0){ // if switches one and three on, table spins, movement two happens
corwinstites 5:429bbb7077e9 70 table.speed(.4);
corwinstites 5:429bbb7077e9 71 lights[0]=1;
corwinstites 5:429bbb7077e9 72 lights[1]=1;
corwinstites 5:429bbb7077e9 73 lights[2]=1;
corwinstites 5:429bbb7077e9 74 lights[3]=1;
corwinstites 5:429bbb7077e9 75 lights[4]=0;
corwinstites 1:ed0f48d7be99 76 mov2();
corwinstites 5:429bbb7077e9 77
corwinstites 1:ed0f48d7be99 78 } // end if
corwinstites 1:ed0f48d7be99 79 else if (a==1 && b==0 && c==0 && d==1){ // if switches one and three are on, table speens, movement three
corwinstites 5:429bbb7077e9 80 table.speed(.4);
corwinstites 5:429bbb7077e9 81 lights[0]=1;
corwinstites 5:429bbb7077e9 82 lights[1]=1;
corwinstites 5:429bbb7077e9 83 lights[2]=1;
corwinstites 5:429bbb7077e9 84 lights[3]=1;
corwinstites 5:429bbb7077e9 85 lights[4]=1;
corwinstites 1:ed0f48d7be99 86 mov3();
corwinstites 5:429bbb7077e9 87
corwinstites 1:ed0f48d7be99 88 } // end if
corwinstites 1:ed0f48d7be99 89 else{
corwinstites 1:ed0f48d7be99 90 table.speed(0);
corwinstites 1:ed0f48d7be99 91 uparm = .5;
corwinstites 1:ed0f48d7be99 92 lowarm = .5;
corwinstites 5:429bbb7077e9 93 lights[0]=1;
corwinstites 1:ed0f48d7be99 94 lights[1]=0;
corwinstites 1:ed0f48d7be99 95 lights[2]=0;
corwinstites 1:ed0f48d7be99 96 lights[3]=0;
corwinstites 1:ed0f48d7be99 97 lights[4]=0;
corwinstites 1:ed0f48d7be99 98 } // end if
corwinstites 3:99852d2be11d 99 wait(.02);
corwinstites 1:ed0f48d7be99 100 }// end while
corwinstites 1:ed0f48d7be99 101 } // end main
corwinstites 1:ed0f48d7be99 102
corwinstites 5:429bbb7077e9 103
corwinstites 1:ed0f48d7be99 104
corwinstites 1:ed0f48d7be99 105 void mov1(void){
corwinstites 1:ed0f48d7be99 106 int i;
corwinstites 1:ed0f48d7be99 107 int j;
corwinstites 1:ed0f48d7be99 108 lowarm = .5;
corwinstites 1:ed0f48d7be99 109 uparm = .5;
corwinstites 5:429bbb7077e9 110 while(a==1 && b==1 && c==0 && d==0){
corwinstites 5:429bbb7077e9 111 a = base.read(); // reads in switch values
corwinstites 5:429bbb7077e9 112 b = s2.read();
corwinstites 5:429bbb7077e9 113 c = s3.read();
corwinstites 5:429bbb7077e9 114 d = s4.read();
corwinstites 1:ed0f48d7be99 115 for (i=0; i<40; i++){
corwinstites 5:429bbb7077e9 116 uparm = .5 + i*0.0041666;
corwinstites 5:429bbb7077e9 117 wait(.038);
corwinstites 1:ed0f48d7be99 118 }
corwinstites 5:429bbb7077e9 119 uparm = 0.66667;
corwinstites 1:ed0f48d7be99 120 for (j=0; j<40; j++){
corwinstites 5:429bbb7077e9 121 uparm = 0.66667-j*0.0041666;
corwinstites 5:429bbb7077e9 122 wait(.038);
corwinstites 3:99852d2be11d 123 printf("Movement 1 \n\r");
corwinstites 1:ed0f48d7be99 124 }
corwinstites 1:ed0f48d7be99 125 }
corwinstites 5:429bbb7077e9 126 }
corwinstites 1:ed0f48d7be99 127
corwinstites 1:ed0f48d7be99 128
corwinstites 1:ed0f48d7be99 129 void mov2(void){
corwinstites 1:ed0f48d7be99 130 int i;
corwinstites 1:ed0f48d7be99 131 int j;
corwinstites 1:ed0f48d7be99 132 lowarm = .5;
corwinstites 1:ed0f48d7be99 133 uparm = .5;
corwinstites 5:429bbb7077e9 134 while(a==1 && b==0 && c==1 && d==0){
corwinstites 5:429bbb7077e9 135 a = base.read(); // reads in switch values
corwinstites 5:429bbb7077e9 136 b = s2.read();
corwinstites 5:429bbb7077e9 137 c = s3.read();
corwinstites 5:429bbb7077e9 138 d = s4.read();
corwinstites 1:ed0f48d7be99 139 for (i=0; i<40; i++){
corwinstites 5:429bbb7077e9 140 uparm = .5 + i*0.00208333;
corwinstites 5:429bbb7077e9 141 lowarm = .5 + i*0.0041666;
corwinstites 5:429bbb7077e9 142 wait(.038);
corwinstites 1:ed0f48d7be99 143 }
corwinstites 5:429bbb7077e9 144 uparm = 0.58333;
corwinstites 5:429bbb7077e9 145 lowarm= 0.66667;
corwinstites 1:ed0f48d7be99 146 for (j=0; j<40; j++){
corwinstites 5:429bbb7077e9 147 uparm = 0.58333-j*0.00208333;
corwinstites 5:429bbb7077e9 148 lowarm = 0.66667-j*0.0041666;
corwinstites 5:429bbb7077e9 149 wait(.038);
corwinstites 3:99852d2be11d 150 printf("Movement 2 \n\r");
corwinstites 1:ed0f48d7be99 151 }
corwinstites 1:ed0f48d7be99 152 }
corwinstites 5:429bbb7077e9 153 }
corwinstites 1:ed0f48d7be99 154
corwinstites 1:ed0f48d7be99 155 void mov3(void) {
corwinstites 1:ed0f48d7be99 156 int i;
corwinstites 1:ed0f48d7be99 157 int j;
corwinstites 1:ed0f48d7be99 158 lowarm = .5;
corwinstites 5:429bbb7077e9 159 uparm = 0.66667;
corwinstites 5:429bbb7077e9 160 while(a==1 && b==0 && c==0 && d==1){
corwinstites 5:429bbb7077e9 161 a = base.read(); // reads in switch values
corwinstites 5:429bbb7077e9 162 b = s2.read();
corwinstites 5:429bbb7077e9 163 c = s3.read();
corwinstites 5:429bbb7077e9 164 d = s4.read();
corwinstites 1:ed0f48d7be99 165 for (i=0; i<40; i++){
corwinstites 5:429bbb7077e9 166 uparm = 0.66667 - i*0.0041666;
corwinstites 5:429bbb7077e9 167 lowarm = .5 + i*0.0041666;
corwinstites 5:429bbb7077e9 168 wait(.038);
corwinstites 1:ed0f48d7be99 169 }
corwinstites 1:ed0f48d7be99 170 uparm = 0.5;
corwinstites 5:429bbb7077e9 171 lowarm= 0.66667;
corwinstites 1:ed0f48d7be99 172 for (j=0; j<40; j++){
corwinstites 5:429bbb7077e9 173 uparm = .5 + j*0.0041666;
corwinstites 5:429bbb7077e9 174 lowarm = 0.66667-j*0.0041666;
corwinstites 5:429bbb7077e9 175 wait(.038);
corwinstites 3:99852d2be11d 176 printf("Movement 3 \n\r");
corwinstites 1:ed0f48d7be99 177 }
corwinstites 1:ed0f48d7be99 178 }
corwinstites 5:429bbb7077e9 179 }