Diff: main.cpp

Revision:

0:a8ef6edcfcd4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Mar 02 14:38:34 2015 +0000
@@ -0,0 +1,54 @@
+// LAB 4 ES202
+// 3/C Changdae Hahm and Charles Stabler
+// 13FEB15
+// Logical Control
+
+#include "mbed.h"
+#include "Motor.h"
+
+
+Serial pc(USBTX, USBRX);   // serial comms
+AnalogIn ted(p19);         // sensor pin
+Timer t;
+Motor m(p26,p29,p30);      // motor control
+
+float read;
+float height;
+float difference;
+float Desired_distance= 7.0;
+
+
+int main() {
+    pc.baud(9600);
+    pc.format(7,SerialBase::None,1);
+    t.start();
+    int time_count=0;
+    
+    while(1) {
+        while(time_count<300){
+            read = ted.read();
+            height = ((495.425114818726*pow(read,3)) - (734.715379566225*pow(read,2)) + (358.613836921017*read) - 35.5785628052144); // height calculation based on calibration
+            pc.printf("%f,%f\n", height,t.read()); // printing height and time for TeraTerm 
+        
+            difference = Desired_distance - height;
+        
+            if (abs(difference)<=0.2){  // breaks loop when elevator reaches desired floor
+                m.speed(0.0);
+                break;
+            }   
+            else if (height > Desired_distance){ // transit to floor
+                m.speed(.9);
+            }
+            else if (height < Desired_distance){ // transit to floor
+                m.speed(-.9);
+            }
+            time_count=time_count+1;
+        }
+        if (Desired_distance!=18.0){ // changes desired floor once elevator reaches floor
+            Desired_distance=18.0;
+        }
+        else if (Desired_distance!=7.0){ // changes desired floor once elevator reaches floor
+            Desired_distance=7.0;
+        }
+    }
+}