Nurbol Nurdaulet
/
state_machine_24_11_11
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Dependencies: mbed WattBob_TextLCD
Revision 3:0ce1c635a653, committed 2011-11-24
- Comitter:
- Nurbol
- Date:
- Thu Nov 24 16:15:02 2011 +0000
- Parent:
- 2:0d0ec8aa4605
- Commit message:
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Thu Nov 24 16:04:06 2011 +0000
+++ b/main.cpp Thu Nov 24 16:15:02 2011 +0000
@@ -236,7 +236,7 @@
}
-
+//function for the state machine to move servos between 2 positions
void state_machine (){
switch(state)
{
@@ -315,91 +315,6 @@
}
-//function to move servo when we have counter1p equal to 10
-/*
-void counter1 (){
- if((counter1p > 0.5)&&(Position1_1p == 1)&&(SW1p == 0)){
- led3 = 1;
- servo_4.pulsewidth_us(0);
- wait(1);
- servo_0.pulsewidth_us(1000 + (200 * 1000) / 90);
- wait(1);
- if(SW1p == 1){
- Position2_1p = 1;
- Position1_1p = 0;
- }
- }
- else if ((counter1p > 0.5)&&(Position2_1p == 1)&&(SW1p == 0)){
- led3 = 1;
- servo_4.pulsewidth_us(0);
- wait(1);
- servo_0.pulsewidth_us(1000 + (0 * 1000) / 90);
- wait(1);
- if(SW1p == 1){
- Position2_1p = 0;
- Position1_1p = 1;
- }
- }
- else if ((counter1p < 0.5)&&(Position1_1p == 1)&&(SW1p == 0)){
- led3 = 0;
- servo_0.pulsewidth_us(1000 + (0 * 1000) / 90);
- if(counter2p < 0.5){
- servo_4.pulsewidth_us(1000 + (25 * 1000) / 90);
- }
- }
- else if ((counter1p < 0.5)&&(Position2_1p == 1)&&(SW1p == 0)){
- led3 = 0;
- servo_0.pulsewidth_us(1000 + (200 * 1000) / 90);
- if(counter2p < 0.5){
- servo_4.pulsewidth_us(1000 + (25 * 1000) / 90);
- }
- }
-}
-*/
-//function to move servo when we have counter2p equal to 5
-
-/*void counter2(){
- if((counter2p > 0.5)&&(Position1_1p == 1)&&(SW2p == 0)){
- led3 = 1;
- servo_4.pulsewidth_us(0);
- wait(1);
- servo_5.pulsewidth_us(1000 + (200 * 1000) / 90);
- wait(1);
- if(SW2p == 1){
- Position2_1p = 1;
- Position1_1p = 0;
- }
- }
- else if ((counter2p > 0.5)&&(Position2_1p == 1)&&(SW2p == 0)){
- led3 = 1;
- servo_4.pulsewidth_us(0);
- wait(1);
- servo_5.pulsewidth_us(1000 + (0 * 1000) / 90);
- wait(1);
- if(SW2p == 1){
- Position2_1p = 0;
- Position1_1p = 1;
- }
- }
- else if ((counter2p < 0.5)&&(Position1_1p == 1)&&(SW2p == 0)){
- led3 = 0;
- servo_5.pulsewidth_us(1000 + (0 * 1000) / 90);
- if(counter1p < 0.5){
- servo_4.pulsewidth_us(1000 + (25 * 1000) / 90);
- }
- }
- else if ((counter2p < 0.5)&&(Position2_1p == 1)&&(SW2p == 0)){
- led3 = 0;
- servo_5.pulsewidth_us(1000 + (200 * 1000) / 90);
- if(counter1p < 0.5){
- servo_4.pulsewidth_us(1000 + (25 * 1000) / 90);
- }
- }
-}
-
-*/
-
-
//************************************************************************
//
int main() {
@@ -419,14 +334,7 @@
timerstatemachine.attach(&state_machine, 0.1);
-//state_machine
-
-//end of the state machine
-
-
-// timercounter2p.attach(&counter2, 0.1); //function counter2 is reading all the 0.1 ms
-// timercounter1p.attach(&counter1, 0.1); //function counter1 is reading all the 0.1 ms
-
+
clk = !clk;
wait(0.01);