Diff: main.cpp

Revision:

1:50490d67ac7e

Parent:

0:af31e48dd848

diff -r af31e48dd848 -r 50490d67ac7e main.cpp
--- a/main.cpp	Fri Oct 03 19:00:30 2014 +0000
+++ b/main.cpp	Wed Oct 22 01:20:11 2014 +0000
@@ -2,23 +2,122 @@
 #include "Motor.h"
 #include "Servo.h"
 
+// I left my code open and unguarded!!
+// I'm a tree!
+
+//Digital I/O
+Motor m(p26, p29, p30); // pins to use for pwm, fwd, rev
 Servo myservo1(p21); //declare servos
 Servo myservo2(p22);
+DigitalOut led[5] = {p5,p6,p7,p8,p11}; //array for leds
+DigitalIn num (p16); // set variable num to read from the board switches
+DigitalIn num2 (p17);
+DigitalIn num3 (p18);
+ 
+int fl =2;
 
+void flash()
+{
+    if (led[fl] ==0)
+    {
+        led[fl] =1;
+        wait(0.1);
+    }
+    else 
+    {
+        led[fl] = 0;
+        wait(0.1);
+    }
+    if (fl < 4)
+    {
+        fl++;
+    }
+    else
+    {
+        fl=2;
+    }
+}
 
 void opengate() // function to open the gate
 {
     myservo1 = 1;
-    wait(0.5);
+    wait(0.01);
 }
 void closegate() //function to close the gate
 {
     myservo1 = 0;
-    wait(0.5);
+    wait(0.01);
 }
 
 int main()
 {
-    opengate();
-    closegate();
+    float wiggle =0;
+    myservo2=wiggle;
+    int tofro = 0;
+    float i=0.0; //speed var
+    while(1)// THE Loop
+    {
+        flash();
+        if(num == 0)
+        {
+            led[0] = 0;
+            closegate();  
+        }
+        if(num == 1)
+        {
+            led[0] = 1;
+            opengate(); 
+        }
+        if(num2 == 1)
+        {
+            led[1] = 1;
+            if(i<0.2)
+            {
+                i=i+0.1;
+                m.speed(i);
+                wait(0.5);
+            }    
+        }
+        if(num2 == 0)
+        {
+            led[1] = 0;
+            
+            if(i>0)
+            {
+                i=i-0.08;
+                m.speed(i);
+                wait(0.5);
+            }    
+        }   
+        if (num3 == 1)
+        {
+            if (tofro==0)
+            {
+                wiggle = wiggle + 0.01;
+                myservo2 = wiggle;
+                wait(0.01);
+                if(wiggle >= 0.1)
+                {
+                    tofro=1;
+                }                
+            }
+            if (tofro==1)
+            {
+                wiggle = wiggle - 0.01;
+                myservo2 = wiggle;
+                wait(0.01);
+                if (wiggle <= 0)
+                {
+                    tofro =0;
+                }
+            }
+        }
+        if(num3==0)
+        {
+            wiggle =0;
+            myservo2 = wiggle;
+            wait(0.01);
+            tofro=0;
+        }    
+    }   
 }