main.cpp

00001 //=======================================|
00002 //%|==================================|%%|
00003 //%|                                  |%%|
00004 //%|          PLTW PROGRAM            |%%|
00005 //%|   ----------------------------   |%%|
00006 //%|  Controls a PWM output using     |%%|
00007 //%|  digital inputs                  |%%|
00008 //%|                                  |%%|
00009 //%|  MOTOR SPEED:                    |%%|
00010 //%|   0.00 - 0.49 reverse            |%%|
00011 //%|   0.49 - 0.51 zero               |%%| 
00012 //%|   0.51 - 1.00 forward            |%%|
00013 //%|                                  |%%|
00014 //%|==================================|%%|
00015 //=======================================|
00016 
00017 //==================================
00018 // Add any libraries that you use:
00019 //==================================
00020 
00021 #include "mbed.h"
00022 #include "Servo.h"
00023 
00024 
00025 //==================================
00026 // Add variables:
00027 //==================================
00028 
00029 //add a motor to PWM output on pin 25
00030 Servo motor1(p25);
00031 
00032 //add a variable for motor speed
00033 float speed = 0.5;
00034 
00035 //add variables for the onboard LEDS, which display for each button
00036 DigitalOut led1(LED1), led2(LED2), led3(LED3), led4(LED4);
00037 
00038 //add variables for button inputs on pins 15, 16, 17, and 18.
00039 InterruptIn a(p18), b(p17), c(p16), d(p15);
00040 
00041 //add variable for button press     //=========================================== NEW
00042 int apress = 0;                     //=========================================== NEW
00043 
00044 //==================================
00045 // Functions for each button press
00046 //==================================
00047 
00048 
00049 // Functions for button 1
00050 void a_hit_interrupt (void) {
00051 
00052     if(apress == 0){                    // PRESSING A WILL DO NOTHING AFTER THE FIRST PRESS
00053                                         // UNLESS THE B BUTTON HAS BEEN PRESSED
00054         //set the apress variable to 1  // SET APRESS VARIABLE TO 1
00055         apress = 1;                     // SET APRESS VARIABLE TO 1
00056         
00057         //move VEX motor (1 is full CCW, 0 is full CW)
00058         speed = 1.0;
00059         motor1 = speed;
00060         //set the motor on duration in seconds:
00061         wait(1);
00062         //stop motor
00063         speed = 0.5;
00064         motor1 = speed;
00065     
00066         //Set LED 1
00067         led1 = 1, led2 = 0, led3 = 0, led4 = 0;
00068     }
00069 }
00070  
00071  
00072  
00073 // Functions for button 2
00074 void b_hit_interrupt (void) {
00075     if(apress == 1){                // PRESSING B WILL DO NOTHING IF A HAS NOT PRESSED
00076     
00077         //set the apress variable to 1  // RESET APRESS VARIABLE TO 0
00078         apress = 0;                     // RESET APRESS VARIABLE TO 0
00079 
00080     //move VEX motor (1 is full CCW, 0 is full CW)
00081     speed = 0.0;
00082     motor1 = speed;
00083     //set the motor on duration in seconds:
00084     wait(1);
00085     //stop motor
00086     speed = 0.5;
00087     motor1 = speed;
00088     
00089     //Set LED 2
00090     led1 = 0, led2 = 1, led3 = 0, led4 = 0;    
00091     }
00092 }
00093 
00094 
00095 
00096 // Functions for button 3 
00097 void c_hit_interrupt (void) {
00098 
00099     //Set LED 3
00100     led1 = 0, led2 = 0, led3 = 1, led4 = 0;
00101 }
00102  
00103  
00104  
00105 // Functions for button 4 
00106 void d_hit_interrupt (void) {
00107 
00108     //Set LED 4
00109     led1 = 0, led2 = 0, led3 = 0, led4 = 1;
00110 }
00111 
00112 
00113 
00114 //==========================================================
00115 //  MAIN FUNCTION
00116 //  waits for button press, then uses the button code above
00117 //==========================================================
00118 
00119 int main() {
00120        
00121     // Use internal pullup resistors to limit the signal current
00122     a.mode(PullUp);
00123     b.mode(PullUp);
00124     c.mode(PullUp);
00125     d.mode(PullUp);            
00126     
00127     // Delay for initial pullup switching to take effect
00128     wait(.01);
00129     
00130     // tells the code what function should be called for each switch press
00131     a.fall(&a_hit_interrupt);
00132     b.fall(&b_hit_interrupt);
00133     c.fall(&c_hit_interrupt);
00134     d.fall(&d_hit_interrupt);
00135     
00136     
00137     while(1) {
00138         //reset LEDs
00139         led1 = 0, led2 = 0, led3 = 0, led4 = 0;
00140 
00141     }
00142 }