Diff: main.cpp

Revision:

0:8c4965d9689e

Child:

1:53e96a6c73db

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Oct 21 22:18:23 2015 +0000
@@ -0,0 +1,113 @@
+#include "mbed.h"
+#include "Servo.h"
+#include "Motor.h"
+
+Servo myservo(p23);
+AnalogIn   ain(p16);
+DigitalOut myled1(LED1);
+DigitalOut myled2(LED2);
+DigitalOut myled3(LED3);
+DigitalOut myled4(LED4);
+float L = 1;
+float negL = -0.5;
+float R = 1;
+float speedL = negL;
+float speedR = R;
+float p = -1;
+int n = 0;
+int main() {
+    while(1){ 
+        Servo myservo(p23);
+        speedL = negL;
+        speedR = R;
+        for(p=-1; p<1.0; p += 0.1) {
+            myservo = p;
+            if(ain > 0.4) {
+                myled1 = 1;
+                myled2 = 1;
+                myled3 = 1;
+                myled4 = 1;
+                speedL = L;
+            }else if(ain<0.4 && ain > 0.3){
+                myled1 = 1;
+                myled2 = 1;
+                myled3 = 1;
+                myled4 = 0;
+                speedL = L;//check random three spikes
+            }else if(ain<0.3 && ain > 0.2){
+                myled1 = 1;
+                myled2 = 1;
+                myled3 = 0;
+                myled4 = 0;
+            }else if(ain<0.2 && ain > 0.1){
+                myled1 = 1;
+                myled2 = 0;
+                myled3 = 0;
+                myled4 = 0;
+            }else {
+                myled1 = 0;
+                myled2 = 0;
+                myled3 = 0;
+                myled4 = 0;
+            }
+            wait(0.2);
+        } 
+        for(p=1.0; p>0.3; p-=.1){
+            myservo = p;
+            wait(0.2);
+        }
+        
+        Motor mR(p21, p30, p29); // pwm, fwd, rev
+        Motor mL(p22, p28, p27);
+        n = 0;
+        while(n<40){
+            if(speedL == negL){
+                if(ain > 0.4) {
+                    myled1 = 1;
+                    myled2 = 1;
+                    myled3 = 1;
+                    myled4 = 1;
+                    speedL = 0;
+                    speedR = 0;
+                }else if(ain<0.4 && ain > 0.3){
+                    myled1 = 1;
+                    myled2 = 1;
+                    myled3 = 1;
+                    myled4 = 0;
+                    speedL = 0;//check random three spikes
+                    speedR = 0;
+                }else if(ain<0.3 && ain > 0.2){
+                    myled1 = 1;
+                    myled2 = 1;
+                    myled3 = 0;
+                    myled4 = 0;
+                }else if(ain<0.2 && ain > 0.1){
+                    myled1 = 1;
+                    myled2 = 0;
+                    myled3 = 0;
+                    myled4 = 0;
+                }else {
+                    myled1 = 0;
+                    myled2 = 0;
+                    myled3 = 0;
+                    myled4 = 0;
+                }
+                mR.speed(speedR); 
+                mL.speed(speedL);
+                wait(.1);
+                n++;
+            }else{
+                mR.speed(speedR); 
+                mL.speed(speedL);
+                wait(.1);
+                n = n+8;
+            }
+            
+        }
+        speedR = 0;
+        speedL = 0;
+        mR.speed(speedR);
+        mL.speed(speedL);
+        wait(.5);
+    }
+}