Sayak Chatterjee / Mbed 2 deprecated devilsafe

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Dependencies:   mbed PinDetect Servo

actuators.cpp@3:2f7a7e2cd49e, 2018-11-13 (annotated)

Committer:
Sayak97
Date:
Tue Nov 13 03:19:06 2018 +0000
Revision:
3:2f7a7e2cd49e
Parent:
2:04bbd14722bd 
DSFDS; ;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sayak97 0:28e05e1a3d1e 1 /*
Sayak97 0:28e05e1a3d1e 2 * Authors: Group 4 Adam Elghor, Brian Kaplan, Sayak Chatterjee, Moraa Onwonga
Sayak97 0:28e05e1a3d1e 3 * Purpose: Controls the actuators of the safe
Sayak97 0:28e05e1a3d1e 4 * Language: NBC
Sayak97 0:28e05e1a3d1e 5 */
Sayak97 0:28e05e1a3d1e 6 #include "actuators.h"
Sayak97 0:28e05e1a3d1e 7 #include "parameters.h"
Sayak97 2:04bbd14722bd 8 #include "Servo.h"
Sayak97 1:2c365f6da61d 9
Sayak97 1:2c365f6da61d 10
Sayak97 3:2f7a7e2cd49e 11 Servo rcServo1(p21); // pwm
Sayak97 3:2f7a7e2cd49e 12 Servo rcServo2(p22); // pwm
Sayak97 3:2f7a7e2cd49e 13 Servo middle(p23);
Sayak97 1:2c365f6da61d 14
Sayak97 0:28e05e1a3d1e 15 /*
Sayak97 0:28e05e1a3d1e 16 * Function: turnsRcServosRight
Sayak97 0:28e05e1a3d1e 17 * --------------------
Sayak97 0:28e05e1a3d1e 18 * Turns the servos to the right
Sayak97 0:28e05e1a3d1e 19 *
Sayak97 0:28e05e1a3d1e 20 *
Sayak97 0:28e05e1a3d1e 21 */
Sayak97 0:28e05e1a3d1e 22 void turnsRcServosRight() {
Sayak97 2:04bbd14722bd 23 printf("I entered turnsRCServoRight");
Sayak97 0:28e05e1a3d1e 24 rcServo1 = 1.0f;
Sayak97 0:28e05e1a3d1e 25 rcServo2 = 1.0f;
Sayak97 0:28e05e1a3d1e 26 }
Sayak97 0:28e05e1a3d1e 27
Sayak97 0:28e05e1a3d1e 28 /*
Sayak97 0:28e05e1a3d1e 29 * Function: urnsRcServosLeft
Sayak97 0:28e05e1a3d1e 30 * --------------------
Sayak97 0:28e05e1a3d1e 31 * Turns the servos to the right
Sayak97 0:28e05e1a3d1e 32 *
Sayak97 0:28e05e1a3d1e 33 *
Sayak97 0:28e05e1a3d1e 34 */
Sayak97 0:28e05e1a3d1e 35 void turnsRcServosLeft() {
Sayak97 2:04bbd14722bd 36 rcServo1 = 0.0f;
Sayak97 2:04bbd14722bd 37 rcServo2 = 0.0f;
Sayak97 0:28e05e1a3d1e 38 }
Sayak97 0:28e05e1a3d1e 39
Sayak97 0:28e05e1a3d1e 40
Sayak97 0:28e05e1a3d1e 41 /*
Sayak97 0:28e05e1a3d1e 42 * Function: openSafe
Sayak97 0:28e05e1a3d1e 43 * --------------------
Sayak97 0:28e05e1a3d1e 44 * Opens the safe
Sayak97 0:28e05e1a3d1e 45 */
Sayak97 0:28e05e1a3d1e 46 void openSafe() {
Sayak97 3:2f7a7e2cd49e 47 middle = 1.0f;
Sayak97 3:2f7a7e2cd49e 48 wait(1);
Sayak97 0:28e05e1a3d1e 49 turnsRcServosRight();
Sayak97 0:28e05e1a3d1e 50 }
Sayak97 0:28e05e1a3d1e 51
Sayak97 0:28e05e1a3d1e 52 /*
Sayak97 0:28e05e1a3d1e 53 * Function: lockSafe
Sayak97 0:28e05e1a3d1e 54 * --------------------
Sayak97 0:28e05e1a3d1e 55 * Locks the safe
Sayak97 0:28e05e1a3d1e 56 */
Sayak97 0:28e05e1a3d1e 57 void lockSafe() {
Sayak97 0:28e05e1a3d1e 58 turnsRcServosLeft();
Sayak97 3:2f7a7e2cd49e 59 wait(3);
Sayak97 3:2f7a7e2cd49e 60 middle = 1.0f;
Sayak97 0:28e05e1a3d1e 61 }
Sayak97 0:28e05e1a3d1e 62
Sayak97 0:28e05e1a3d1e 63