Nurbol Nurdaulet / Mbed 2 deprecated state_machine_24_11_11

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Dependencies:   mbed WattBob_TextLCD

Diff: main.cpp

Revision:
2:0d0ec8aa4605
Parent:
1:05b399616fcd
Child:
3:0ce1c635a653
--- a/main.cpp	Thu Nov 24 12:10:17 2011 +0000
+++ b/main.cpp	Thu Nov 24 16:04:06 2011 +0000
@@ -252,11 +252,15 @@
              led4 = 0;
              counter1p.read();
              counter2p.read();
-             if(counter1p > 0.5){
-                state = 1;
+             if(SW1p == 0){
+                 if(counter1p > 0.5){
+                    state = 1;
+                 }
              }
-             if(counter2p > 0.5){
-                state = 4;
+             if(SW2p == 0){
+                 if(counter2p > 0.5){
+                    state = 4;
+                 }
              }
              break;
         case 1:                                                 // state 1 if counter1p = 1
@@ -265,12 +269,13 @@
              wait(1);
              Position1_1p = 0;
              Position2_1p = 1;
-             if(Position2_1p == 1){
+             if((Position2_1p == 1)&&(counter1p < 0.5)){
                 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   
+             counter1p.read();
              if(counter1p > 0.5){
                 state = 3;
              }
@@ -303,7 +308,7 @@
              servo_4.pulsewidth_us(0);   // motor stop
              led4 = 1;
              if(SW2p == 1){              // wait SW 2p to go to the initial state
-                state = 0;
+                    state = 0;
              }
              break;         
     }