Diff: main.cpp

Revision:

2:59677142d3dd

Parent:

1:aaa03bac6dd6

Child:

3:660252b9fa29

--- a/main.cpp	Mon Dec 10 22:27:35 2018 +0000
+++ b/main.cpp	Tue Dec 11 00:56:05 2018 +0000
@@ -3,19 +3,48 @@
  #include "MMA8452.h"
  #include "PinDetect.h"
  
-Serial pc(USBTX,USBRX);
-DigitalOut myLed(LED1);
-PinDetect pb1(p20);
+        Serial pc(USBTX,USBRX);
+        DigitalOut myLed(LED1);
+        PinDetect pb1(p20);
+
+        DigitalOut Comm(p11); //If master
+        //DigitalIn Comm(p11);  //If slave
+
+        DigitalOut Red4(p5);
+        DigitalOut Red3(p6);
+        DigitalOut Yel2(p7);
+        DigitalOut Grn1(p8);
 
         Servo _base(p21);
         Servo _shoulder(p22);
         Servo _elbow(p23);
-        Servo _gripper(p24);
+        Servo _sword(p24);
+
+void countdown(){
+    Comm = 1;
+    Red4 = 1;
+    wait(1);
+    Red4 = 0;
+    Red3 = 1;
+    wait(1);
+    Red3 = 0;
+    Yel2 = 1;
+    wait(1);
+    Red4 = 1;
+    Red3 = 1;
+    Grn1 = 1;
+    wait(1);
+    Red4 = 0;
+    Red3 = 0;
+    Yel2 = 0;
+    Grn1 = 0;
+    Comm = 0;
+  }
 
 void swing(){
-    _gripper.write(1.0);
+    _sword.write(1.0);
     wait(.1);
-    _gripper.write(0.0);
+    _sword.write(0.0);
   }
 
 int main() {
@@ -30,6 +59,13 @@
    acc.setDynamicRange(MMA8452::DYNAMIC_RANGE_4G);
    acc.setDataRate(MMA8452::RATE_100);
    
+   countdown(); //If master
+   
+   /*
+   while(Comm = 1) {
+       wait(.1);
+       }
+       */
    
    while(1) {
 
@@ -37,6 +73,7 @@
 
       _base.write((y+1)/2);
       _shoulder.write((x+1)/2);
+      _elbow.write((x+1)/4);
 
       if(!pb1){
         myLed=1;