Revision 0:dddc5750e57c, committed 2016-03-10

Comitter:

joankangro

Date:

Thu Mar 10 13:47:39 2016 +0000

Commit message:

new

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Mar 10 13:47:39 2016 +0000
@@ -0,0 +1,294 @@
+#include "mbed.h"
+
+//Pull everything down
+DigitalOut pull1(PTE2);
+DigitalOut pull2(PTA2);
+DigitalOut pull6(PTA5);
+DigitalOut pull9(PTA13);
+DigitalOut pull10(PTD5);
+DigitalOut pull11(PTD0);
+DigitalOut pull12(PTD2);
+DigitalOut pull13(PTD3);
+DigitalOut pull14(PTD1);
+DigitalOut pull15(PTE0);
+DigitalOut pull16(PTE1);
+DigitalOut pull19(PTC3);
+DigitalOut pull21(PTC12);
+DigitalOut pull22(PTC13);
+DigitalOut pull23(PTC16);
+DigitalOut pull24(PTC17);
+DigitalOut pull25(PTA16);
+DigitalOut pull26(PTA17);
+DigitalOut pull27(PTE31);
+DigitalOut pull28(PTD6);
+DigitalOut pull29(PTD7);
+
+//motor driver outputs
+DigitalOut IN4(PTC5);
+DigitalOut IN3(PTC6);
+DigitalOut IN2(PTC10);
+DigitalOut IN1(PTC11);
+PwmOut ENA(PTC9);
+PwmOut ENB(PTD4);
+
+DigitalOut indicator(LED_GREEN);
+
+//constant 3.3 volts for sensors
+DigitalOut constant1(PTE5);
+DigitalOut constant2(PTE4);
+DigitalOut constant3(PTE3);
+DigitalOut constant4(PTC0);
+DigitalOut constant5(PTC7);
+
+//line following inputs
+AnalogIn leftmost(PTB0); 
+AnalogIn left(PTC2);
+AnalogIn middle(PTB3); 
+AnalogIn right(PTB2);
+AnalogIn rightmost(PTB1);
+
+DigitalIn back(PTB10);
+DigitalIn midbar(PTB11);
+//DigitalIn front(PTE2);
+DigitalIn front(PTA1);
+
+//debugging led outputs
+DigitalOut ledleftmost(PTE20);
+DigitalOut ledright(PTE23);
+DigitalOut ledmiddle(PTE22);
+DigitalOut ledleft(PTE29);
+DigitalOut ledrightmost(PTE21);
+
+
+
+DigitalOut ledback(PTC4);
+DigitalOut ledmidbar(PTB8);
+DigitalOut ledfront(PTB9);
+
+//ball firing
+PwmOut motors(PTA12);
+DigitalOut solenoid(PTA4);
+
+//Ball dispensing
+PwmOut dispenser(PTC8);
+
+
+void turnleft(){
+    ledleft=1;
+    ENA=0.26;    
+}
+
+void rapidleft(){
+    ledleftmost=1;
+    ENA=0;     
+}
+
+void turnright(){
+    ledright=1; 
+    ENB=0.26; 
+}
+
+void rapidright(){
+    ledrightmost=1;
+    ENB=0;  
+}
+
+void fireball(){
+    ENA=0;
+    ENB=0;
+    motors=0.095;
+    wait_ms(550);
+    solenoid=1;
+    wait_ms(45);
+    solenoid=0;
+    wait(3);
+    motors=0;   
+}
+
+void dispenseball(){
+    ENA=0;
+    ENB=0;
+    wait(3);    
+}
+
+int counter=0;
+
+void checkbarcode(){
+    
+    if(front==1){
+        ENA=0.3;
+        ENB=0.3;
+        ledfront=1;
+                
+        counter=0;
+        
+        while(counter<600){
+            if(midbar==1 and back==1){
+                fireball();
+                ENA=0.4;
+                ENB=0.4;
+                wait(5);
+                break;
+            }else if(front==1 and back==1){
+                dispenseball();
+                ENA=0.4;
+                ENB=0.4;
+                wait(5);  
+                break; 
+            }     
+            counter=counter+1;
+            wait(0.05);
+        }
+        
+        ledfront=0;
+            
+            
+    }  
+
+}
+
+void resetled(){
+    ledmiddle=0;  
+    ledleft=0;
+    ledright=0;
+    ledleftmost=0;  
+    ledrightmost=0;
+}
+
+int main() {
+    
+    
+    
+    pull1=0;
+    pull2=0;
+    pull6=0;
+    pull9=0;
+    pull10=0;
+    pull11=0;
+    pull12=0;
+    pull13=0;
+    pull14=0;
+    pull15=0;
+    pull16=0;
+    pull19=0;
+    pull21=0;
+    pull22=0;
+    pull23=0;
+    pull24=0;
+    pull25=0;
+    pull26=0;
+    pull27=0;
+    pull28=0;
+    pull29=0;
+
+   
+    
+    motors.period(3.0);
+    motors.write(0);
+    solenoid=0;
+    
+    constant1=1;
+    constant2=1;
+    constant3=1;
+    constant4=1;
+    constant5=1;
+    
+    indicator=1;
+    wait(0.3);
+    indicator=0;
+    wait(0.3);
+    indicator=1;
+    wait(0.3);
+    indicator=0;
+    
+    //define pwn freq for dispenser
+    dispenser.period(1/2048);
+    
+            
+    dispenser=0.5;
+    
+    ENA.period(0.001);
+    ENB.period(0.001);
+    
+    IN1=0;
+    IN2=1;
+    IN3=0;
+    IN4=1;   
+    //set inital pwm values for motor driver outputs        
+    ENA=0;
+    ENB=0;
+    
+    //front.rise(&checkbarcode);
+
+    while(1) {
+        
+        if(middle<0.4 & left<0.4 & right<0.4 & leftmost<0.4 & rightmost<0.4){
+            //skip the loop, keep the same values 
+              
+        }else{
+            
+            resetled();
+            
+            checkbarcode();
+            
+            if(middle<0.4){
+                ENA=0.45;
+                ENB=0.45;   
+                ledmiddle=1; 
+            }else{
+                ENA=0.4;
+                ENB=0.4; 
+                ledmiddle=0; 
+            }
+            
+            checkbarcode();
+            
+            if((left>0.4 or leftmost>0.4)and(right>0.4 or rightmost>0.4)){
+                rapidleft();
+                wait(2);      
+            }else if(leftmost>0.4){
+                rapidleft();  
+            }else if(rightmost>0.4){
+                rapidright(); 
+            }else if(right>0.4){
+                turnright();   
+            }else if(left>0.4){
+                turnleft();  
+            }else{
+                //skip the loop, keep the same values  
+            }     
+            
+            checkbarcode();
+            
+            if(front==1) {
+                ledfront=1;
+            }else{
+                ledfront=0;
+            }
+            
+            checkbarcode();
+         
+            if(midbar==1) {
+                ledmidbar=1;
+            }else{
+                ledmidbar=0;
+            }
+            
+            checkbarcode();
+         
+            if(back==1) {
+                ledback=1;
+            }else{
+                ledback=0;
+            }
+            
+            checkbarcode();
+                        
+        }      
+
+           
+        wait(0.01);
+       
+       
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Mar 10 13:47:39 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/87f2f5183dfb
\ No newline at end of file