Diff: main.cpp

Revision:

6:a64d79286726

Parent:

4:b3a93554fedf

Child:

7:10554a04a34f

--- a/main.cpp	Fri Nov 18 03:59:01 2016 +0000
+++ b/main.cpp	Sat Nov 19 08:32:04 2016 +0000
@@ -1,45 +1,92 @@
 #include "mbed.h"
 #include "Motor.h"
 #include "Servo.h"
-/************************************* Lab5 Motor to servo     **************************/
-/*                                                                                      */
-/*  File: main.cpp                                                                      */
-/*  Author: Ziad Eldebri                                                                */
-/*  Date Created: 9/19/2016                                                             */
-/*  Description:              */
-/*                                                                                      */
-/****************************************************************************************/
+/************************************* Lab5 Motor to servo  **********************************/
+/*                                                                                           */
+/*  File: main.cpp                                                                           */
+/*  Author: Ziad Eldebri                                                                     */
+/*  Date Created: 9/19/2016                                                                  */
+/*  Description:                                                                             */
+/*  Edit: Matthew Sessions                                                                   */
+/*                                                                                           */
+/*********************************************************************************************/
 
 Servo my_servo(PTB3,PTE19,PTE18,PTE31);
 AnalogIn Spanel(PTB2);
-uint16_t reading_array[3];
-int position_array[3]={30,75,120};
-uint16_t largest = 0; 
+//uint16_t reading_array[3];
+const int size=20;
+unsigned int reading_array[size]; 
+int position_array[size];  
+//uint16_t largest = 0; 
+unsigned int largest = 0;
 int largesti = 0;
 int i;
 
-int main() {
+//Serial pc(USBTX, USBRX);
+
+int main() 
+{
+
+    for (i=0; i<size;i++)
+    {
 
-while (1) {  
+       position_array[i] = i*180/size +20 ;
+
+    }
+
+    while (1) 
+    {  
+        for (i = 0; i < size; i++)
+        {
 
-for (i = 0; i < 3; i++){
-my_servo.set(position_array[i]);
-wait(3);
-reading_array[i] = Spanel.read_u16();
-}
+            //set position
+            my_servo.set(position_array[i]);
+            
+            //pc.printf(" Reading array %d %ld\n  ", i , reading_array[i]);
+            
+            //check position    
+
+            while(1)
+            {
+                //one but not both, XOR
+                if((my_servo.get()-position_array[i] > -25 ) ^ (my_servo.get()  - position_array[i]  <25))
+                {
 
+                     break;
+                }
+
+                else
+                {
+                        my_servo.set(position_array[i]);
+                        wait(.2);
+                }
+
+
+            }
+
+            //write analog values (integers) to array
+            reading_array[i] = Spanel.read()*10000;
+        }
 
 
 
+        for (i = 0; i < size; i++)
+        {
+            if (reading_array[i] > largest)
+            {
 
-for (i = 0; i < 3; i++){
-    if (reading_array[i] > largest){
-        largest = reading_array[i];
-        largesti = i;
-        
+                largest = reading_array[i];
+                largesti = i;
+
+            }
+
         }
+
+        //pc.printf(" servo pos %d %ld\n ", 0 , my_servo.get());
+        //pc.printf(" Largest degree %d %ld\n ", position_array[largesti], reading_array[largesti]);  
+        my_servo.set(position_array[largesti]);
+
+        wait(8);
+
     }
-my_servo.set(position_array[largesti]);
-wait(15);
-    }
-}
+}
\ No newline at end of file