Diff: main.cpp

Revision:

0:5e54c5a00e68

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Apr 29 07:57:58 2017 +0000
@@ -0,0 +1,127 @@
+// Demonstrates complete use of the WDDDS systems  and functionalities:
+// Cup dispenser, dispensing drink 1, dispensing drink 2, and conveyor belt.
+// This code:
+// - dispenses a cup, moves the cup under the drink dispenser, dispenses drink 1
+//      then moves cup further along treads when button 1 is pressed
+// - dispenses a cup, moves the cup under the drink dispenser, dispenses drink 2
+//      then moves cup further along treads when button 2 is pressed
+// - 4th button is used for unjamming the cup dispenser, as it will extend the
+//      linear actuator further to push cups out.
+
+#include "mbed.h"
+#include "Motor.h"
+#include "Servo.h"
+
+Servo poker(p22);
+DigitalIn stby(p25);
+Motor tread(p24, p12, p11);         // pwm, fwd, rev (H-bridge)
+Motor pump(p26, p13, p14);          // pwm, fwd, rev (H-bridge)
+DigitalOut tread2(p21);             // MOSFET
+BusOut myled(LED1,LED2,LED3,LED4);  // check for which button is pressed
+Serial blue(p28,p27);               // Bluetooth
+float cupos = 850;
+void cupdispense();
+void drink1();
+void drink2();
+void treads(float time); 
+
+int main()
+{
+    poker.Enable(1500,20000);
+    poker.SetPosition(cupos);
+    wait(.2);
+     poker.SetPosition(cupos+10);
+    stby.mode(PullUp);
+    char bnum=0;
+    char bhit=0;
+    while(1) {
+        if (blue.getc()=='!') {
+            if (blue.getc()=='B') { //button data packet
+                bnum = blue.getc(); //button number
+                bhit = blue.getc(); //1=hit, 0=release
+                if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
+                    myled = bnum - '0'; //current button number will appear on LEDs
+                    switch (bnum) {
+                        case '1': //number button 1
+                            if (bhit=='1') {
+                                //add hit code here
+                                drink1();
+                                
+                            } else {
+                                //add release code here
+                            }
+                            break;
+                        case '2': //number button 2
+                            if (bhit=='1') {
+                                //add hit code here
+                                 drink2();
+                            } else {
+                                //add release code here
+                            }
+                            break;
+                        case '3': //number button 3
+                            if (bhit=='1') {
+                                //add hit code here
+                            } else {
+                                //add release code here
+                            }
+                            break;
+                        case '4': //number button 4
+                            if (bhit=='1') {
+                                //add hit code here
+                                cupdispense();
+                            } else {
+                                //add release code here
+                            }
+                            break;
+                        default:
+                            break;
+                    }
+                }
+            }
+        }
+    }
+}
+
+void cupdispense(){
+   if( cupos <2500) {
+       cupos += 52;
+       wait_ms(400);
+       poker.SetPosition(cupos);
+       cupos += 53;
+       poker.SetPosition(cupos);
+       wait_ms(100);
+       }
+}
+
+void drink1(){
+  //  cupdispense();
+    //wait(3.5);
+    treads(.68);
+    wait(.4);
+    pump.speed(1);
+    wait(2);
+    pump.speed(0);
+    wait(5);
+    treads(1);
+}
+
+void drink2(){
+  //  cupdispense();
+    //wait(3.5);
+    treads(.68);
+    wait(.4);
+    pump.speed(-1);
+    wait(2);
+    pump.speed(0);
+    wait(5);
+    treads(1);
+}
+
+void treads(float time) {
+    tread.speed(.4);
+    tread2 = 1;
+    wait(time);
+    tread.speed(0);
+    tread2 = 0;
+}
\ No newline at end of file