Nurbol Nurdaulet
/
state_machine
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main.cpp@0:079cf37f39ca, 2011-11-24 (annotated)
- Committer:
- Nurbol
- Date:
- Thu Nov 24 10:18:57 2011 +0000
- Revision:
- 0:079cf37f39ca
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Nurbol | 0:079cf37f39ca | 1 | #include "mbed.h" |
| Nurbol | 0:079cf37f39ca | 2 | |
| Nurbol | 0:079cf37f39ca | 3 | static int state(0); |
| Nurbol | 0:079cf37f39ca | 4 | |
| Nurbol | 0:079cf37f39ca | 5 | int main() { |
| Nurbol | 0:079cf37f39ca | 6 | while(1) { |
| Nurbol | 0:079cf37f39ca | 7 | switch(state) |
| Nurbol | 0:079cf37f39ca | 8 | { |
| Nurbol | 0:079cf37f39ca | 9 | case 0: |
| Nurbol | 0:079cf37f39ca | 10 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); |
| Nurbol | 0:079cf37f39ca | 11 | servo_0.pulsewidth_us(1000 + (0 * 1000) / 90); |
| Nurbol | 0:079cf37f39ca | 12 | servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); |
| Nurbol | 0:079cf37f39ca | 13 | Position1p_1 = 1; |
| Nurbol | 0:079cf37f39ca | 14 | Position1p_2 = 0; |
| Nurbol | 0:079cf37f39ca | 15 | Position2p_1 = 1; |
| Nurbol | 0:079cf37f39ca | 16 | Position2p_2 = 0; |
| Nurbol | 0:079cf37f39ca | 17 | if(counter1p == 1){ |
| Nurbol | 0:079cf37f39ca | 18 | state = 1; |
| Nurbol | 0:079cf37f39ca | 19 | } |
| Nurbol | 0:079cf37f39ca | 20 | if(counter2p == 1){ |
| Nurbol | 0:079cf37f39ca | 21 | state = 4; |
| Nurbol | 0:079cf37f39ca | 22 | } |
| Nurbol | 0:079cf37f39ca | 23 | break; |
| Nurbol | 0:079cf37f39ca | 24 | case 1: |
| Nurbol | 0:079cf37f39ca | 25 | servo_4.pulsewidth_us(0); |
| Nurbol | 0:079cf37f39ca | 26 | servo_0.pulsewidth_us(1000 + (200 * 1000) / 90); |
| Nurbol | 0:079cf37f39ca | 27 | wait(1); |
| Nurbol | 0:079cf37f39ca | 28 | Position1p_1 = 0; |
| Nurbol | 0:079cf37f39ca | 29 | Position1p_2 = 1; |
| Nurbol | 0:079cf37f39ca | 30 | if(Position1p_2 == 1){ |
| Nurbol | 0:079cf37f39ca | 31 | state = 2; |
| Nurbol | 0:079cf37f39ca | 32 | } |
| Nurbol | 0:079cf37f39ca | 33 | break; |
| Nurbol | 0:079cf37f39ca | 34 | case 2: |
| Nurbol | 0:079cf37f39ca | 35 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); |
| Nurbol | 0:079cf37f39ca | 36 | if(counter1p = 1){ |
| Nurbol | 0:079cf37f39ca | 37 | state = 3; |
| Nurbol | 0:079cf37f39ca | 38 | } |
| Nurbol | 0:079cf37f39ca | 39 | break; |
| Nurbol | 0:079cf37f39ca | 40 | case 3: |
| Nurbol | 0:079cf37f39ca | 41 | servo_4.pulsewidth_us(0); |
| Nurbol | 0:079cf37f39ca | 42 | if(SW1p == 1){ |
| Nurbol | 0:079cf37f39ca | 43 | state = 0; |
| Nurbol | 0:079cf37f39ca | 44 | } |
| Nurbol | 0:079cf37f39ca | 45 | break; |
| Nurbol | 0:079cf37f39ca | 46 | case 4: |
| Nurbol | 0:079cf37f39ca | 47 | servo_4.pulsewidth_us(0); |
| Nurbol | 0:079cf37f39ca | 48 | servo_5.pulsewidth_us(1000 + (200 * 1000) / 90); |
| Nurbol | 0:079cf37f39ca | 49 | wait(1); |
| Nurbol | 0:079cf37f39ca | 50 | Position2p_1 = 0; |
| Nurbol | 0:079cf37f39ca | 51 | Position2p_2 = 1; |
| Nurbol | 0:079cf37f39ca | 52 | if(Position2p_2 == 1){ |
| Nurbol | 0:079cf37f39ca | 53 | state = 5; |
| Nurbol | 0:079cf37f39ca | 54 | } |
| Nurbol | 0:079cf37f39ca | 55 | break; |
| Nurbol | 0:079cf37f39ca | 56 | case 5: |
| Nurbol | 0:079cf37f39ca | 57 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); |
| Nurbol | 0:079cf37f39ca | 58 | if(counter2p == 1){ |
| Nurbol | 0:079cf37f39ca | 59 | state = 6; |
| Nurbol | 0:079cf37f39ca | 60 | } |
| Nurbol | 0:079cf37f39ca | 61 | break; |
| Nurbol | 0:079cf37f39ca | 62 | case 6: |
| Nurbol | 0:079cf37f39ca | 63 | servo_4.pulsewidth_us(0); |
| Nurbol | 0:079cf37f39ca | 64 | if(SW2p == 1){ |
| Nurbol | 0:079cf37f39ca | 65 | state = 0; |
| Nurbol | 0:079cf37f39ca | 66 | } |
| Nurbol | 0:079cf37f39ca | 67 | break; |
| Nurbol | 0:079cf37f39ca | 68 | } |
| Nurbol | 0:079cf37f39ca | 69 | } |
| Nurbol | 0:079cf37f39ca | 70 | } |