Diff: main.cpp

Revision:

0:4d82538f5640

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Oct 22 15:50:15 2018 +0000
@@ -0,0 +1,93 @@
+/*
+ES200 3321 Project 2 Team Crab Race
+MIDN 3/c Pak, Tamas, etc
+*/
+#include "mbed.h"
+#include "stdio.h"
+#include "Motor.h"
+#include "Servo.h"
+
+// declare global hardware objects
+Serial pc(USBTX,USBRX); // for printing out stuff during debugging
+Motor knife_motor(p26, p30, p29);
+Servo finish_servo(p22);
+Servo start_servo(p21);
+
+// where are your switches?  you need a few
+DigitalIn start_sw(p19);
+
+// need LEDs (they're supposed to be external LEDs!)
+DigitalOut led[4]= {LED1, LED2, LED3, LED4};
+
+
+
+
+
+int main(void)
+{
+    int x; // for random outcome of race
+    int i; // a counter variable
+
+    // setup
+    pc.printf("ES200 3321 Project 2 Team Crab Race\r\n");
+    pc.printf("main() thread running\r\n");
+    pc.printf("main() thread calibrating servos\r\n");
+    start_servo.calibrate(0.0009, 90.0); // HiTec HS422 servos for ES200/202
+    finish_servo.calibrate(0.0009, 90.0);
+    start_servo.write(0.0);  // set start gate initial position
+    finish_servo.write(0.5);  // set finish gate initial position
+    knife_motor.speed(0.0); // stop knife motor
+
+    // main loop
+    while(1) {
+
+        // STATE: IDLE
+        pc.printf("main() thread idle state\r\n");
+        start_servo.write(0.0);
+        finish_servo.write(0.5);
+        while (!start_sw.read()) {
+            ThisThread::sleep_for(200); // works like wait()
+        }
+
+
+        // STATE: START RACE
+        x = (rand()%10)+1;
+        pc.printf("main() thread starting a race, x = %d\r\n",x);
+        start_servo.write(0.25); // lower start gate to begin race
+        ThisThread::sleep_for(1000); //gives time for crab to get down track
+
+
+        // STATE: END RACE depending on value of x
+        pc.printf("main() thread preparing to end race\r\n");
+        start_servo.write(0.0); //set initial start gate position
+        if (x <= 7) {
+            pc.printf("main() thread for x = %d, victory display\r\n",x);
+            finish_servo = 1.0; //gate has a 70% chance to go one way
+            pc.printf("main() thread waiting for start_sw to stop display\r\n");
+            while (start_sw.read()) {
+                for (i=0; i<5; i++) {
+                    // blink lights for victory display
+                    led[i] = 1;
+                    ThisThread::sleep_for(150);
+                    led[i]=0;
+                } // for
+            } // while(start_sw.read())
+        } // if (x<=7)
+        else { //30% chance the gate will go the other way
+            pc.printf("main() thread for x = %d, fatality display\r\n",x);
+            finish_servo.write(0.0);
+            pc.printf("main() thread waiting for start_sw to stop display\r\n");
+            while (start_sw.read()) {
+                knife_motor.speed (0.5);
+                ThisThread::sleep_for(500);
+                knife_motor.speed (-0.5);
+                ThisThread::sleep_for(500);
+            } // while(start_sw.read())
+            knife_motor.speed(0); // stop knife
+        }
+        pc.printf("main() thread returning to idle state, reset the racer positions\r\n");
+        finish_servo.write(0.5); //set finish gate to halfway point
+
+
+    } // while(1)
+} // main()
\ No newline at end of file