Nurbol Nurdaulet
/
state_machine_24_11_11
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Dependencies: mbed WattBob_TextLCD
Diff: main.cpp
- Revision:
- 1:05b399616fcd
- Parent:
- 0:99ea9a842829
- Child:
- 2:0d0ec8aa4605
--- a/main.cpp Thu Nov 24 00:01:43 2011 +0000
+++ b/main.cpp Thu Nov 24 12:10:17 2011 +0000
@@ -26,7 +26,7 @@
Ticker timer2p;
Ticker timercounter1p;
Ticker timercounter2p;
-
+Ticker timerstatemachine;
AnalogIn sensor1(p15);
AnalogIn sensor2(p16);
@@ -51,7 +51,7 @@
bool Position1_2p;
bool Position2_2p;
-static int state(0);
+int state;
@@ -62,7 +62,7 @@
void sensor2p (void);
void counter1 (void);
void counter2 (void);
-
+void state_machine (void);
//
//
// 2. five servo outputs
@@ -129,6 +129,8 @@
Position1_2p = 1;
Position2_2p = 0;
+ state = 0;
+
return;
} // end init_sys
@@ -233,6 +235,81 @@
}
}
+
+
+void state_machine (){
+ switch(state)
+ {
+ case 0: // initial state
+ servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); // motor is run
+ servo_0.pulsewidth_us(1000 + (0 * 1000) / 90); // servo 1p go to position 1
+ servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); // servo 2p go to position 1
+ Position1_1p = 1;
+ Position2_1p = 0;
+ Position1_2p = 1;
+ Position2_2p = 0;
+ led3 = 0;
+ led4 = 0;
+ counter1p.read();
+ counter2p.read();
+ if(counter1p > 0.5){
+ state = 1;
+ }
+ if(counter2p > 0.5){
+ state = 4;
+ }
+ break;
+ case 1: // state 1 if counter1p = 1
+ servo_4.pulsewidth_us(0); // motor stop
+ servo_0.pulsewidth_us(1000 + (200 * 1000) / 90); // servo 1p go to position 2
+ wait(1);
+ Position1_1p = 0;
+ Position2_1p = 1;
+ if(Position2_1p == 1){
+ state = 2;
+ }
+ break;
+ case 2: // state 2 if servo 1p is in position 2
+ servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); // motor is run
+ if(counter1p > 0.5){
+ state = 3;
+ }
+ break;
+ case 3: // state 3 if counter 1p = 1
+ servo_4.pulsewidth_us(0); // motor stop
+ led3 = 1;
+ if(SW1p == 1){ // wait SW 1p to go to the initial state
+ state = 0;
+ }
+ break;
+ case 4: // state 4 if counter 2p = 1
+ servo_4.pulsewidth_us(0); // motor stop
+ servo_5.pulsewidth_us(1000 + (200 * 1000) / 90); // servo 2p go to position 2
+ wait(1);
+ Position1_2p = 0;
+ Position2_2p = 1;
+ if((Position2_2p == 1)&&(counter2p < 0.5)){
+ state = 5;
+ }
+ break;
+ case 5: // state 5 if servo 2p is in position 2
+ servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); // motor run
+ counter2p.read();
+ if(counter2p > 0.5){
+ state = 6;
+ }
+ break;
+ case 6: // state 6 if counter 2p = 1
+ servo_4.pulsewidth_us(0); // motor stop
+ led4 = 1;
+ if(SW2p == 1){ // wait SW 2p to go to the initial state
+ state = 0;
+ }
+ break;
+ }
+}
+
+
//function to move servo when we have counter1p equal to 10
/*
void counter1 (){
@@ -332,74 +409,13 @@
timer2p.attach(&sensor2p, 0.1); //function sensor2p is reading all the 0.1 ms
timer1p.attach(&sensor1p, 0.1); //function sensor1p is reading all the 0.1 ms
+ counter1p.read();
+ counter2p.read();
+
+ timerstatemachine.attach(&state_machine, 0.1);
//state_machine
- switch(state)
- {
- case 0: // initial state
- servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); // motor is run
- servo_0.pulsewidth_us(1000 + (0 * 1000) / 90); // servo 1p go to position 1
- servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); // servo 2p go to position 1
- Position1_1p = 1;
- Position2_1p = 0;
- Position1_2p = 1;
- Position2_2p = 0;
- led3 = 0;
- led4 = 0;
- if(counter1p == 1){
- state = 1;
- }
- if(counter2p == 1){
- state = 4;
- }
- break;
- case 1: // state 1 if counter1p = 1
- servo_4.pulsewidth_us(0); // motor stop
- servo_0.pulsewidth_us(1000 + (200 * 1000) / 90); // servo 1p go to position 2
- wait(1);
- Position1_1p = 0;
- Position2_1p = 1;
- if(Position2_1p == 1){
- state = 2;
- }
- break;
- case 2: // state 2 if servo 1p is in position 2
- servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); // motor is run
- if(counter1p == 1){
- state = 3;
- }
- break;
- case 3: // state 3 if counter 1p = 1
- servo_4.pulsewidth_us(0); // motor stop
- led3 = 1;
- if(SW1p == 1){ // wait SW 1p to go to the initial state
- state = 0;
- }
- break;
- case 4: // state 4 if counter 2p = 1
- servo_4.pulsewidth_us(0); // motor stop
- servo_5.pulsewidth_us(1000 + (200 * 1000) / 90); // servo 2p go to position 2
- wait(1);
- Position1_2p = 0;
- Position2_2p = 1;
- if(Position2_2p == 1){
- state = 5;
- }
- break;
- case 5: // state 5 if servo 2p is in position 2
- servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); // motor run
- if(counter2p == 1){
- state = 6;
- }
- break;
- case 6: // state 6 if counter 2p = 1
- servo_4.pulsewidth_us(0); // motor stop
- led4 = 1;
- if(SW2p == 1){ // wait SW 2p to go to the initial state
- state = 0;
- }
- break;
- }
+
//end of the state machine