Diff: a.cpp

Revision:

1:b9a97697a48b

Child:

2:b1498967bcb4

diff -r 1d351fb237ff -r b9a97697a48b a.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/a.cpp	Fri Nov 07 06:46:39 2014 +0000
@@ -0,0 +1,77 @@
+#include "mbed.h"
+#include "MotorDriver_SU.h"
+ 
+DigitalIn sensor1(P1_21);
+DigitalIn sensor2(P0_21);
+DigitalIn sensor3(P0_12);
+DigitalIn sensor4(P0_13);
+MotorDriver_SU motor(MOTOR_DOUBLE);
+MotorDriver_SU lift(MOTOR_SINGLE);
+ 
+int main(){
+    int x = 0;
+    
+    while(1){
+        if(sensor1 == 0 && sensor2 == 0){
+            motor.Drive(0,CW,1500);
+            motor.Drive(1,CW,1500);
+            } 
+        else if(sensor1 == 0 && sensor2 == 1){
+                x = 1;
+                motor.Drive(0,CW,0);
+                motor.Drive(1,CW,1500);
+                } 
+        else if(sensor1 == 1 && sensor2 == 0){
+                    x = 2;
+                    motor.Drive(0,CW,1500);
+                    motor.Drive(1,CW,0);
+                    }
+         else  if(x == 1 && sensor1 == 1 && sensor2 == 1){
+         
+                    motor.Drive(0,CW,0);
+                    motor.Drive(1,CW,1500);
+                    }
+         else  if(x == 2 && sensor1 == 1 && sensor2 == 1){
+                    motor.Drive(0,CW,1500);
+                    motor.Drive(1,CW,0);
+                    }
+                    else  if(sensor3 == 0 && sensor4 == 0){
+                    moter.Lift(0,CW,1500);
+                    motor.Drive(0,CW,0);
+                    motor.Drive(1,CW,0);
+                    breake;
+                    }
+                    }
+                    }
+    while(1){
+        if(sensor1 == 0 && sensor2 == 0){
+            motor.Drive(0,CW,1500);
+            motor.Drive(1,CW,1500);
+            } 
+        else if(sensor1 == 0 && sensor2 == 1){
+                x = 1;
+                motor.Drive(0,CW,0);
+                motor.Drive(1,CW,1500);
+                } 
+        else if(sensor1 == 1 && sensor2 == 0){
+                    x = 2;
+                    motor.Drive(0,CW,1500);
+                    motor.Drive(1,CW,0);
+                    }
+         else  if(x == 1 && sensor1 == 1 && sensor2 == 1){
+         
+                    motor.Drive(0,CW,0);
+                    motor.Drive(1,CW,1500);
+                    }
+         else  if(x == 2 && sensor1 == 1 && sensor2 == 1){
+                    motor.Drive(0,CW,1500);
+                    motor.Drive(1,CW,0);
+                    }
+                    else  if(sensor3 == 0 && sensor4 == 0){
+                    lift.Drive(0,CCW,1500);
+                    motor.Drive(0,CW,0);
+                    motor.Drive(1,CW,0);
+                    breake;
+                    }
+                    }
+                    }
\ No newline at end of file