kh
Dependencies: mbed PinDetect Servo
actuators.cpp
00001 /* 00002 * Authors: Group 4 Adam Elghor, Brian Kaplan, Sayak Chatterjee, Moraa Onwonga 00003 * Purpose: Controls the actuators of the safe 00004 * Language: NBC 00005 */ 00006 #include "actuators.h" 00007 #include "parameters.h" 00008 #include "Servo.h" 00009 00010 00011 Servo rcServo1(p21); // pwm 00012 Servo rcServo2(p22); // pwm 00013 Servo middle(p23); 00014 00015 /* 00016 * Function: turnsRcServosRight 00017 * -------------------- 00018 * Turns the servos to the right 00019 * 00020 * 00021 */ 00022 void turnsRcServosRight() { 00023 printf("I entered turnsRCServoRight"); 00024 rcServo1 = 1.0f; 00025 rcServo2 = 1.0f; 00026 } 00027 00028 /* 00029 * Function: urnsRcServosLeft 00030 * -------------------- 00031 * Turns the servos to the right 00032 * 00033 * 00034 */ 00035 void turnsRcServosLeft() { 00036 rcServo1 = 0.0f; 00037 rcServo2 = 0.0f; 00038 } 00039 00040 00041 /* 00042 * Function: openSafe 00043 * -------------------- 00044 * Opens the safe 00045 */ 00046 void openSafe() { 00047 middle = 1.0f; 00048 wait(1); 00049 turnsRcServosRight(); 00050 } 00051 00052 /* 00053 * Function: lockSafe 00054 * -------------------- 00055 * Locks the safe 00056 */ 00057 void lockSafe() { 00058 turnsRcServosLeft(); 00059 wait(3); 00060 middle = 1.0f; 00061 } 00062 00063
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