Aarón González Benaissa / Mbed 2 deprecated ascensor

Programación Ascensor Tiempo Real

Dependencies:   DebouncedIn SRF05 mbed

ascensor.cpp@0:cbc582265222, 2017-06-07 (annotated)

Committer:
AaronGonzalez
Date:
Wed Jun 07 19:36:48 2017 +0000
Revision:
0:cbc582265222
Ascensor Tiempo Real

Who changed what in which revision?

UserRevisionLine numberNew contents of line
AaronGonzalez 0:cbc582265222 1 #include "mbed.h"
AaronGonzalez 0:cbc582265222 2 #include "SRF05.h"
AaronGonzalez 0:cbc582265222 3 #include "DebouncedIn.h"
AaronGonzalez 0:cbc582265222 4
AaronGonzalez 0:cbc582265222 5 Serial pc(USBTX, USBRX);
AaronGonzalez 0:cbc582265222 6
AaronGonzalez 0:cbc582265222 7 // Declaración de pines para las puertas
AaronGonzalez 0:cbc582265222 8 // a partir de entradas analógicas
AaronGonzalez 0:cbc582265222 9 PwmOut servo1(PTB0); // entrada analógica servo 1 - listo
AaronGonzalez 0:cbc582265222 10 PwmOut servo2(PTB1); // entrada analógica servo 2 - listo
AaronGonzalez 0:cbc582265222 11 PwmOut servo3(PTB2); // sentrada analógica servo 3 - listo
AaronGonzalez 0:cbc582265222 12
AaronGonzalez 0:cbc582265222 13 int STOP=0; // estado detenido inicializado en 0
AaronGonzalez 0:cbc582265222 14
AaronGonzalez 0:cbc582265222 15 //servo1.period(0.025);
AaronGonzalez 0:cbc582265222 16 //servo2.period(0.025);
AaronGonzalez 0:cbc582265222 17 //servo3.period(0.025);
AaronGonzalez 0:cbc582265222 18 //servo1.pulsewidth(0.00055);
AaronGonzalez 0:cbc582265222 19 //servo2.pulsewidth(0.0022);
AaronGonzalez 0:cbc582265222 20 //servo3.pulsewidth(0.0022);
AaronGonzalez 0:cbc582265222 21
AaronGonzalez 0:cbc582265222 22 // Declaración de pines de los motores
AaronGonzalez 0:cbc582265222 23 //DigitalOut motor1(PTC16);
AaronGonzalez 0:cbc582265222 24 //DigitalOut motor2(PTC13);
AaronGonzalez 0:cbc582265222 25 //DigitalOut enable(PTB3);
AaronGonzalez 0:cbc582265222 26
AaronGonzalez 0:cbc582265222 27 int motor1;
AaronGonzalez 0:cbc582265222 28 int motor2;
AaronGonzalez 0:cbc582265222 29
AaronGonzalez 0:cbc582265222 30 // Declaración de pines para los botones
AaronGonzalez 0:cbc582265222 31 DebouncedIn boton1(PTC11);
AaronGonzalez 0:cbc582265222 32 DebouncedIn boton2b(PTC10);
AaronGonzalez 0:cbc582265222 33 DebouncedIn boton2s(PTC6);
AaronGonzalez 0:cbc582265222 34 DebouncedIn boton3(PTC5);
AaronGonzalez 0:cbc582265222 35 DebouncedIn boton1i(PTC4);
AaronGonzalez 0:cbc582265222 36 DebouncedIn boton2i(PTC3);
AaronGonzalez 0:cbc582265222 37 DebouncedIn boton3i(PTC0);
AaronGonzalez 0:cbc582265222 38 DebouncedIn boton_p(PTC7);
AaronGonzalez 0:cbc582265222 39
AaronGonzalez 0:cbc582265222 40 // Declaración pines del sensor de ultrasonido
AaronGonzalez 0:cbc582265222 41 SRF05 sensor(PTD3,PTD1);
AaronGonzalez 0:cbc582265222 42
AaronGonzalez 0:cbc582265222 43 // Declaración pines digitales para los led's
AaronGonzalez 0:cbc582265222 44 DigitalOut led1(PTE5);
AaronGonzalez 0:cbc582265222 45 DigitalOut led2(PTE4);
AaronGonzalez 0:cbc582265222 46 DigitalOut led3(PTE3);
AaronGonzalez 0:cbc582265222 47
AaronGonzalez 0:cbc582265222 48 // Declaración pines de salida para el motor principal tipo PWM
AaronGonzalez 0:cbc582265222 49 // Entradas tipo PWM Análogas para inversión de giro
AaronGonzalez 0:cbc582265222 50 PwmOut giro1(PTC1);
AaronGonzalez 0:cbc582265222 51 PwmOut giro2(PTC2);
AaronGonzalez 0:cbc582265222 52 DigitalOut enable(PTB3);
AaronGonzalez 0:cbc582265222 53
AaronGonzalez 0:cbc582265222 54 //giro1.period_ms(20);
AaronGonzalez 0:cbc582265222 55 //giro2.period_ms(20);
AaronGonzalez 0:cbc582265222 56
AaronGonzalez 0:cbc582265222 57 //A continuación se describe el número de botones a usar
AaronGonzalez 0:cbc582265222 58 // los pisos del ascensor, el botón de paro
AaronGonzalez 0:cbc582265222 59 // y las distancias entre los pisos
AaronGonzalez 0:cbc582265222 60 int botones[4],pisos[3],paro;
AaronGonzalez 0:cbc582265222 61 int bussy=0;
AaronGonzalez 0:cbc582265222 62 float distancia;
AaronGonzalez 0:cbc582265222 63 float dist3=8.0;
AaronGonzalez 0:cbc582265222 64 float dist2=28.0;
AaronGonzalez 0:cbc582265222 65 float dist1=47.0;
AaronGonzalez 0:cbc582265222 66
AaronGonzalez 0:cbc582265222 67 // Pulsadores
AaronGonzalez 0:cbc582265222 68 void pulsadores(void const *args){
AaronGonzalez 0:cbc582265222 69
AaronGonzalez 0:cbc582265222 70 while(1) {
AaronGonzalez 0:cbc582265222 71 if (boton_p.read()==1){ // Lectura de boton de paro
AaronGonzalez 0:cbc582265222 72 STOP=1;
AaronGonzalez 0:cbc582265222 73 paro=1;
AaronGonzalez 0:cbc582265222 74 }
AaronGonzalez 0:cbc582265222 75 if (boton1.read()==1){
AaronGonzalez 0:cbc582265222 76 botones[0]=1; //luego irá al piso 1
AaronGonzalez 0:cbc582265222 77 }
AaronGonzalez 0:cbc582265222 78 if (boton2b.read()==1){
AaronGonzalez 0:cbc582265222 79 botones[1]=1; //luego irá al piso 1
AaronGonzalez 0:cbc582265222 80 }
AaronGonzalez 0:cbc582265222 81 if (boton2s.read()==1){
AaronGonzalez 0:cbc582265222 82 botones[2]=1; //luego irá al piso 1
AaronGonzalez 0:cbc582265222 83 }
AaronGonzalez 0:cbc582265222 84 if (boton3.read()==1){
AaronGonzalez 0:cbc582265222 85 botones[3]=1; //luego irá al piso 1
AaronGonzalez 0:cbc582265222 86 }
AaronGonzalez 0:cbc582265222 87 if (boton1i.read()==1){
AaronGonzalez 0:cbc582265222 88 pisos[0]=1; //luego irá al piso 1
AaronGonzalez 0:cbc582265222 89 }
AaronGonzalez 0:cbc582265222 90 if (boton2i.read()==1){
AaronGonzalez 0:cbc582265222 91 pisos[1]=1; //luego irá al piso 2
AaronGonzalez 0:cbc582265222 92 }
AaronGonzalez 0:cbc582265222 93 if (boton3i.read()==1){
AaronGonzalez 0:cbc582265222 94 pisos[2]=1; //luego irá al piso 3
AaronGonzalez 0:cbc582265222 95 }
AaronGonzalez 0:cbc582265222 96 // Thread::wait(1000.0*0.02);
AaronGonzalez 0:cbc582265222 97 }
AaronGonzalez 0:cbc582265222 98 }
AaronGonzalez 0:cbc582265222 99
AaronGonzalez 0:cbc582265222 100 void sensar(void const *args){
AaronGonzalez 0:cbc582265222 101
AaronGonzalez 0:cbc582265222 102 while(1) {
AaronGonzalez 0:cbc582265222 103
AaronGonzalez 0:cbc582265222 104 distancia=sensor.read(); //sensar
AaronGonzalez 0:cbc582265222 105
AaronGonzalez 0:cbc582265222 106 //Thread::wait(1000.0*0.02);
AaronGonzalez 0:cbc582265222 107
AaronGonzalez 0:cbc582265222 108 distancia=floor(distancia);
AaronGonzalez 0:cbc582265222 109 }
AaronGonzalez 0:cbc582265222 110 }
AaronGonzalez 0:cbc582265222 111 void subir(void){
AaronGonzalez 0:cbc582265222 112
AaronGonzalez 0:cbc582265222 113 if(motor2==0){
AaronGonzalez 0:cbc582265222 114 giro1.period_ms(20);
AaronGonzalez 0:cbc582265222 115 giro2.period_ms(20);
AaronGonzalez 0:cbc582265222 116 enable=1;
AaronGonzalez 0:cbc582265222 117 motor1=1;
AaronGonzalez 0:cbc582265222 118
AaronGonzalez 0:cbc582265222 119 //giro1=1;
AaronGonzalez 0:cbc582265222 120 //motor2=0;
AaronGonzalez 0:cbc582265222 121 //giro2=0;
AaronGonzalez 0:cbc582265222 122
AaronGonzalez 0:cbc582265222 123 giro1.pulsewidth_ms(15);
AaronGonzalez 0:cbc582265222 124 giro2.pulsewidth_ms(0);
AaronGonzalez 0:cbc582265222 125 }
AaronGonzalez 0:cbc582265222 126 }
AaronGonzalez 0:cbc582265222 127 void bajar(void){
AaronGonzalez 0:cbc582265222 128
AaronGonzalez 0:cbc582265222 129 if(motor1==0){
AaronGonzalez 0:cbc582265222 130 giro1.period_ms(20);
AaronGonzalez 0:cbc582265222 131 giro2.period_ms(20);
AaronGonzalez 0:cbc582265222 132 enable=1;
AaronGonzalez 0:cbc582265222 133 motor1=0;
AaronGonzalez 0:cbc582265222 134
AaronGonzalez 0:cbc582265222 135 //giro1=0;
AaronGonzalez 0:cbc582265222 136 //motor2=1;
AaronGonzalez 0:cbc582265222 137 //giro2=1;
AaronGonzalez 0:cbc582265222 138
AaronGonzalez 0:cbc582265222 139 giro1.pulsewidth_ms(0);
AaronGonzalez 0:cbc582265222 140 giro2.pulsewidth_ms(8);
AaronGonzalez 0:cbc582265222 141 }
AaronGonzalez 0:cbc582265222 142 }
AaronGonzalez 0:cbc582265222 143 void stop(void){
AaronGonzalez 0:cbc582265222 144
AaronGonzalez 0:cbc582265222 145 giro1.period_ms(20);
AaronGonzalez 0:cbc582265222 146 giro2.period_ms(20);
AaronGonzalez 0:cbc582265222 147 enable=0;
AaronGonzalez 0:cbc582265222 148 motor1=0;
AaronGonzalez 0:cbc582265222 149
AaronGonzalez 0:cbc582265222 150 //giro1=0;
AaronGonzalez 0:cbc582265222 151 //motor2=0;
AaronGonzalez 0:cbc582265222 152 //giro2=0;
AaronGonzalez 0:cbc582265222 153
AaronGonzalez 0:cbc582265222 154 enable=0;
AaronGonzalez 0:cbc582265222 155 giro1.pulsewidth_ms(0);
AaronGonzalez 0:cbc582265222 156 giro2.pulsewidth_ms(0);
AaronGonzalez 0:cbc582265222 157 }
AaronGonzalez 0:cbc582265222 158
AaronGonzalez 0:cbc582265222 159 void tercero(void){
AaronGonzalez 0:cbc582265222 160
AaronGonzalez 0:cbc582265222 161 bussy=1;
AaronGonzalez 0:cbc582265222 162 botones[3]=0;
AaronGonzalez 0:cbc582265222 163 pisos[2]=0;
AaronGonzalez 0:cbc582265222 164 servo1.period(0.025);
AaronGonzalez 0:cbc582265222 165 servo1.pulsewidth(0.0008);
AaronGonzalez 0:cbc582265222 166 servo2.period(0.025);
AaronGonzalez 0:cbc582265222 167 servo2.pulsewidth(0.0055);
AaronGonzalez 0:cbc582265222 168 servo3.period(0.025);
AaronGonzalez 0:cbc582265222 169 servo3.pulsewidth(0.0055);
AaronGonzalez 0:cbc582265222 170
AaronGonzalez 0:cbc582265222 171 int flag1=0,flag2=0;
AaronGonzalez 0:cbc582265222 172 subir();
AaronGonzalez 0:cbc582265222 173
AaronGonzalez 0:cbc582265222 174 while(1){
AaronGonzalez 0:cbc582265222 175
AaronGonzalez 0:cbc582265222 176 if (botones[2]==1 && distancia>=dist2){
AaronGonzalez 0:cbc582265222 177 flag2=1;
AaronGonzalez 0:cbc582265222 178 }
AaronGonzalez 0:cbc582265222 179
AaronGonzalez 0:cbc582265222 180 if (flag2==1 && distancia==dist2 && flag1==0){
AaronGonzalez 0:cbc582265222 181 stop();
AaronGonzalez 0:cbc582265222 182 servo2.pulsewidth(0.0008);
AaronGonzalez 0:cbc582265222 183 wait(5);
AaronGonzalez 0:cbc582265222 184 servo2.pulsewidth(0.0055);
AaronGonzalez 0:cbc582265222 185 flag1=1;
AaronGonzalez 0:cbc582265222 186 subir();
AaronGonzalez 0:cbc582265222 187 botones[2]=0;
AaronGonzalez 0:cbc582265222 188 }
AaronGonzalez 0:cbc582265222 189
AaronGonzalez 0:cbc582265222 190 if (botones[1]==1){
AaronGonzalez 0:cbc582265222 191 pisos[1]=1; // va luego para el piso 2
AaronGonzalez 0:cbc582265222 192 }
AaronGonzalez 0:cbc582265222 193
AaronGonzalez 0:cbc582265222 194 if (distancia<=dist3){
AaronGonzalez 0:cbc582265222 195 stop();
AaronGonzalez 0:cbc582265222 196 servo3.pulsewidth(0.0008);
AaronGonzalez 0:cbc582265222 197 wait(5);
AaronGonzalez 0:cbc582265222 198 servo3.pulsewidth(0.0055);
AaronGonzalez 0:cbc582265222 199 break;
AaronGonzalez 0:cbc582265222 200 }
AaronGonzalez 0:cbc582265222 201 }
AaronGonzalez 0:cbc582265222 202 bussy=0;
AaronGonzalez 0:cbc582265222 203 }
AaronGonzalez 0:cbc582265222 204
AaronGonzalez 0:cbc582265222 205 void segundo(void){
AaronGonzalez 0:cbc582265222 206
AaronGonzalez 0:cbc582265222 207 botones[1]=0;
AaronGonzalez 0:cbc582265222 208 botones[2]=0;
AaronGonzalez 0:cbc582265222 209 pisos[1]=0;
AaronGonzalez 0:cbc582265222 210 bussy=1;
AaronGonzalez 0:cbc582265222 211 servo1.period(0.025);
AaronGonzalez 0:cbc582265222 212 servo1.pulsewidth(0.0008);
AaronGonzalez 0:cbc582265222 213 servo2.period(0.025);
AaronGonzalez 0:cbc582265222 214 servo2.pulsewidth(0.0055);
AaronGonzalez 0:cbc582265222 215 servo3.period(0.025);
AaronGonzalez 0:cbc582265222 216 servo3.pulsewidth(0.0055);
AaronGonzalez 0:cbc582265222 217
AaronGonzalez 0:cbc582265222 218 if (distancia>(dist2+2.0)){
AaronGonzalez 0:cbc582265222 219 subir();
AaronGonzalez 0:cbc582265222 220 }
AaronGonzalez 0:cbc582265222 221 else{
AaronGonzalez 0:cbc582265222 222
AaronGonzalez 0:cbc582265222 223 if (distancia<(dist2-2.0)){
AaronGonzalez 0:cbc582265222 224 bajar();}
AaronGonzalez 0:cbc582265222 225 }
AaronGonzalez 0:cbc582265222 226
AaronGonzalez 0:cbc582265222 227 while(1){
AaronGonzalez 0:cbc582265222 228 if (distancia==dist2){
AaronGonzalez 0:cbc582265222 229 stop();
AaronGonzalez 0:cbc582265222 230 servo2.pulsewidth(0.0008);
AaronGonzalez 0:cbc582265222 231 wait(5);
AaronGonzalez 0:cbc582265222 232 servo2.pulsewidth(0.0055);
AaronGonzalez 0:cbc582265222 233 break;
AaronGonzalez 0:cbc582265222 234 }
AaronGonzalez 0:cbc582265222 235 }
AaronGonzalez 0:cbc582265222 236 bussy=0;
AaronGonzalez 0:cbc582265222 237 }
AaronGonzalez 0:cbc582265222 238
AaronGonzalez 0:cbc582265222 239 void primero(void){
AaronGonzalez 0:cbc582265222 240
AaronGonzalez 0:cbc582265222 241 botones[0]=0;
AaronGonzalez 0:cbc582265222 242 pisos[0]=0;
AaronGonzalez 0:cbc582265222 243 bussy=1;
AaronGonzalez 0:cbc582265222 244 servo1.period(0.025);
AaronGonzalez 0:cbc582265222 245 servo1.pulsewidth(0.0008);
AaronGonzalez 0:cbc582265222 246 servo2.period(0.025);
AaronGonzalez 0:cbc582265222 247 servo2.pulsewidth(0.0055);
AaronGonzalez 0:cbc582265222 248 servo3.period(0.025);
AaronGonzalez 0:cbc582265222 249 servo3.pulsewidth(0.0055);
AaronGonzalez 0:cbc582265222 250 int flag1=0,flag2=0;
AaronGonzalez 0:cbc582265222 251 bajar();
AaronGonzalez 0:cbc582265222 252
AaronGonzalez 0:cbc582265222 253 while(1){
AaronGonzalez 0:cbc582265222 254
AaronGonzalez 0:cbc582265222 255 if (botones[1]==1 && distancia<=dist2){
AaronGonzalez 0:cbc582265222 256 flag2=1;
AaronGonzalez 0:cbc582265222 257 }
AaronGonzalez 0:cbc582265222 258 if (flag2==1 && distancia==dist2 && flag1==0){
AaronGonzalez 0:cbc582265222 259 stop();
AaronGonzalez 0:cbc582265222 260 servo2.pulsewidth(0.0008);
AaronGonzalez 0:cbc582265222 261 wait(5);
AaronGonzalez 0:cbc582265222 262 servo2.pulsewidth(0.0055);
AaronGonzalez 0:cbc582265222 263 flag1=1;
AaronGonzalez 0:cbc582265222 264 bajar();
AaronGonzalez 0:cbc582265222 265 botones[1]=0;
AaronGonzalez 0:cbc582265222 266 }
AaronGonzalez 0:cbc582265222 267 if(botones[2]==1){
AaronGonzalez 0:cbc582265222 268 pisos[1]=1;
AaronGonzalez 0:cbc582265222 269 }
AaronGonzalez 0:cbc582265222 270 if (distancia>=dist1){
AaronGonzalez 0:cbc582265222 271 stop();
AaronGonzalez 0:cbc582265222 272 servo1.pulsewidth(0.0022);
AaronGonzalez 0:cbc582265222 273 wait(5);
AaronGonzalez 0:cbc582265222 274 servo1.pulsewidth(0.0008);
AaronGonzalez 0:cbc582265222 275 break;
AaronGonzalez 0:cbc582265222 276 }
AaronGonzalez 0:cbc582265222 277 }
AaronGonzalez 0:cbc582265222 278 bussy=0;
AaronGonzalez 0:cbc582265222 279 }
AaronGonzalez 0:cbc582265222 280
AaronGonzalez 0:cbc582265222 281 void bombillos(void const *args){
AaronGonzalez 0:cbc582265222 282
AaronGonzalez 0:cbc582265222 283 while(1){
AaronGonzalez 0:cbc582265222 284
AaronGonzalez 0:cbc582265222 285 if (motor2==1){
AaronGonzalez 0:cbc582265222 286 if (distancia>=dist3 && distancia<dist2){
AaronGonzalez 0:cbc582265222 287 led3=1;
AaronGonzalez 0:cbc582265222 288 led2=0;
AaronGonzalez 0:cbc582265222 289 led1=0;
AaronGonzalez 0:cbc582265222 290 }
AaronGonzalez 0:cbc582265222 291 if (distancia>=dist2 && distancia<dist1){
AaronGonzalez 0:cbc582265222 292 led3=0;
AaronGonzalez 0:cbc582265222 293 led2=1;
AaronGonzalez 0:cbc582265222 294 led1=0;
AaronGonzalez 0:cbc582265222 295 }
AaronGonzalez 0:cbc582265222 296 if (distancia>=dist1){
AaronGonzalez 0:cbc582265222 297 led3=0;
AaronGonzalez 0:cbc582265222 298 led2=0;
AaronGonzalez 0:cbc582265222 299 led1=1;
AaronGonzalez 0:cbc582265222 300 }
AaronGonzalez 0:cbc582265222 301 }
AaronGonzalez 0:cbc582265222 302 if (motor1==1 || (motor1==0 && motor2==0)){
AaronGonzalez 0:cbc582265222 303
AaronGonzalez 0:cbc582265222 304 if (distancia<=dist1 && distancia>dist2){
AaronGonzalez 0:cbc582265222 305 led3=0;
AaronGonzalez 0:cbc582265222 306 led2=0;
AaronGonzalez 0:cbc582265222 307 led1=1;
AaronGonzalez 0:cbc582265222 308 }
AaronGonzalez 0:cbc582265222 309 if (distancia<=dist2 && distancia>dist3){
AaronGonzalez 0:cbc582265222 310 led3=0;
AaronGonzalez 0:cbc582265222 311 led2=1;
AaronGonzalez 0:cbc582265222 312 led1=0;
AaronGonzalez 0:cbc582265222 313 }
AaronGonzalez 0:cbc582265222 314 if (distancia<=dist3){
AaronGonzalez 0:cbc582265222 315 led3=1;
AaronGonzalez 0:cbc582265222 316 led2=0;
AaronGonzalez 0:cbc582265222 317 led1=0;
AaronGonzalez 0:cbc582265222 318 }
AaronGonzalez 0:cbc582265222 319 }
AaronGonzalez 0:cbc582265222 320
AaronGonzalez 0:cbc582265222 321 //Thread::wait(1000.0*0.02);
AaronGonzalez 0:cbc582265222 322
AaronGonzalez 0:cbc582265222 323 }
AaronGonzalez 0:cbc582265222 324 }
AaronGonzalez 0:cbc582265222 325
AaronGonzalez 0:cbc582265222 326 void parar(void){
AaronGonzalez 0:cbc582265222 327
AaronGonzalez 0:cbc582265222 328 servo1.period(0.025);
AaronGonzalez 0:cbc582265222 329 servo1.pulsewidth(0.0008);
AaronGonzalez 0:cbc582265222 330 servo2.period(0.025);
AaronGonzalez 0:cbc582265222 331 servo2.pulsewidth(0.0055);
AaronGonzalez 0:cbc582265222 332 servo3.period(0.025);
AaronGonzalez 0:cbc582265222 333 servo3.pulsewidth(0.0055);
AaronGonzalez 0:cbc582265222 334 bajar();
AaronGonzalez 0:cbc582265222 335
AaronGonzalez 0:cbc582265222 336 while(1) {
AaronGonzalez 0:cbc582265222 337 if (distancia>=dist1){
AaronGonzalez 0:cbc582265222 338 stop();
AaronGonzalez 0:cbc582265222 339 servo1.pulsewidth(0.0008);
AaronGonzalez 0:cbc582265222 340 botones[0]=0;
AaronGonzalez 0:cbc582265222 341 botones[1]=0;
AaronGonzalez 0:cbc582265222 342 botones[2]=0;
AaronGonzalez 0:cbc582265222 343 botones[3]=0;
AaronGonzalez 0:cbc582265222 344 pisos[0]=0;
AaronGonzalez 0:cbc582265222 345 pisos[1]=0;
AaronGonzalez 0:cbc582265222 346 pisos[2]=0;
AaronGonzalez 0:cbc582265222 347 STOP=0;
AaronGonzalez 0:cbc582265222 348 paro=0;
AaronGonzalez 0:cbc582265222 349 break;
AaronGonzalez 0:cbc582265222 350 }
AaronGonzalez 0:cbc582265222 351 }
AaronGonzalez 0:cbc582265222 352 }
AaronGonzalez 0:cbc582265222 353
AaronGonzalez 0:cbc582265222 354 int main() {
AaronGonzalez 0:cbc582265222 355
AaronGonzalez 0:cbc582265222 356 giro1.period_ms(20);
AaronGonzalez 0:cbc582265222 357 giro2.period_ms(20);
AaronGonzalez 0:cbc582265222 358 giro1.pulsewidth_ms(0);
AaronGonzalez 0:cbc582265222 359 giro2.pulsewidth_ms(0);
AaronGonzalez 0:cbc582265222 360
AaronGonzalez 0:cbc582265222 361 enable=0;
AaronGonzalez 0:cbc582265222 362 motor1=0;
AaronGonzalez 0:cbc582265222 363 motor2=0;
AaronGonzalez 0:cbc582265222 364 led1=0;
AaronGonzalez 0:cbc582265222 365 led2=0;
AaronGonzalez 0:cbc582265222 366 led3=0;
AaronGonzalez 0:cbc582265222 367
AaronGonzalez 0:cbc582265222 368 //Thread thread2(pulsadores);
AaronGonzalez 0:cbc582265222 369 //Thread thread4(sensar);
AaronGonzalez 0:cbc582265222 370 //Thread thread5(bombillos);
AaronGonzalez 0:cbc582265222 371
AaronGonzalez 0:cbc582265222 372 botones[0]=0;
AaronGonzalez 0:cbc582265222 373 botones[1]=0;
AaronGonzalez 0:cbc582265222 374 botones[2]=0;
AaronGonzalez 0:cbc582265222 375 botones[3]=0;
AaronGonzalez 0:cbc582265222 376 pisos[0]=0;
AaronGonzalez 0:cbc582265222 377 pisos[1]=0;
AaronGonzalez 0:cbc582265222 378 pisos[2]=0;
AaronGonzalez 0:cbc582265222 379
AaronGonzalez 0:cbc582265222 380 while(1) {
AaronGonzalez 0:cbc582265222 381 if (paro==1 ){
AaronGonzalez 0:cbc582265222 382 botones[0]=0;
AaronGonzalez 0:cbc582265222 383 botones[1]=0;
AaronGonzalez 0:cbc582265222 384 botones[2]=0;
AaronGonzalez 0:cbc582265222 385 botones[3]=0;
AaronGonzalez 0:cbc582265222 386 pisos[0]=0;
AaronGonzalez 0:cbc582265222 387 pisos[1]=0;
AaronGonzalez 0:cbc582265222 388 pisos[2]=0;
AaronGonzalez 0:cbc582265222 389 STOP=0;
AaronGonzalez 0:cbc582265222 390 paro=0;
AaronGonzalez 0:cbc582265222 391 primero();
AaronGonzalez 0:cbc582265222 392 }
AaronGonzalez 0:cbc582265222 393 if (STOP==0 && bussy==0){
AaronGonzalez 0:cbc582265222 394
AaronGonzalez 0:cbc582265222 395 if (pisos[0]==1){
AaronGonzalez 0:cbc582265222 396 pisos[0]=0;
AaronGonzalez 0:cbc582265222 397 primero();
AaronGonzalez 0:cbc582265222 398 }
AaronGonzalez 0:cbc582265222 399 if ( pisos[1]==1){
AaronGonzalez 0:cbc582265222 400 pisos[1]=0;
AaronGonzalez 0:cbc582265222 401 segundo();
AaronGonzalez 0:cbc582265222 402 }
AaronGonzalez 0:cbc582265222 403 if (pisos[2]==1){
AaronGonzalez 0:cbc582265222 404 pisos[2]=0;
AaronGonzalez 0:cbc582265222 405 tercero();
AaronGonzalez 0:cbc582265222 406 }
AaronGonzalez 0:cbc582265222 407 if (botones[0]==0 && botones[1]==0 && botones[2]==0 && botones[3]==0){
AaronGonzalez 0:cbc582265222 408 }
AaronGonzalez 0:cbc582265222 409 if ( botones[3]==1){
AaronGonzalez 0:cbc582265222 410 botones[3]=0;
AaronGonzalez 0:cbc582265222 411 tercero();
AaronGonzalez 0:cbc582265222 412 }
AaronGonzalez 0:cbc582265222 413 if (botones[1]==1 || botones[2]==1){
AaronGonzalez 0:cbc582265222 414 botones[1]=0;
AaronGonzalez 0:cbc582265222 415 botones[2]=0;
AaronGonzalez 0:cbc582265222 416 segundo();
AaronGonzalez 0:cbc582265222 417 }
AaronGonzalez 0:cbc582265222 418 if (botones[0]==1 ){
AaronGonzalez 0:cbc582265222 419 botones[0]=0;
AaronGonzalez 0:cbc582265222 420 primero();
AaronGonzalez 0:cbc582265222 421 }
AaronGonzalez 0:cbc582265222 422 }
AaronGonzalez 0:cbc582265222 423
AaronGonzalez 0:cbc582265222 424 //Thread::wait(1000.0*0.2);
AaronGonzalez 0:cbc582265222 425 //myled = 0;
AaronGonzalez 0:cbc582265222 426 //Thread::wait(1000.0*0.2);
AaronGonzalez 0:cbc582265222 427 }
AaronGonzalez 0:cbc582265222 428 }