main.cpp

00001 /*
00002 ES200 3321 Project 2 Team Crab Race
00003 MIDN 3/c Pak, Tamas, etc
00004 */
00005 #include "mbed.h"
00006 #include "stdio.h"
00007 #include "Motor.h"
00008 #include "Servo.h"
00009 
00010 // declare global hardware objects
00011 Serial pc(USBTX,USBRX); // for printing out stuff during debugging
00012 Motor knife_motor(p26, p30, p29);
00013 Servo finish_servo(p22);
00014 Servo start_servo(p21);
00015 
00016 // where are your switches?  you need a few
00017 DigitalIn start_sw(p19);
00018 
00019 // need LEDs (they're supposed to be external LEDs!)
00020 DigitalOut led[4]= {LED1, LED2, LED3, LED4};
00021 
00022 
00023 
00024 
00025 
00026 int main(void)
00027 {
00028     int x; // for random outcome of race
00029     int i; // a counter variable
00030 
00031     // setup
00032     pc.printf("ES200 3321 Project 2 Team Crab Race\r\n");
00033     pc.printf("main() thread running\r\n");
00034     pc.printf("main() thread calibrating servos\r\n");
00035     start_servo.calibrate(0.0009, 90.0); // HiTec HS422 servos for ES200/202
00036     finish_servo.calibrate(0.0009, 90.0);
00037     start_servo.write(0.0);  // set start gate initial position
00038     finish_servo.write(0.5);  // set finish gate initial position
00039     knife_motor.speed(0.0); // stop knife motor
00040 
00041     // main loop
00042     while(1) {
00043 
00044         // STATE: IDLE
00045         pc.printf("main() thread idle state\r\n");
00046         start_servo.write(0.0);
00047         finish_servo.write(0.5);
00048         while (!start_sw.read()) {
00049             ThisThread::sleep_for(200); // works like wait()
00050         }
00051 
00052 
00053         // STATE: START RACE
00054         x = (rand()%10)+1;
00055         pc.printf("main() thread starting a race, x = %d\r\n",x);
00056         start_servo.write(0.25); // lower start gate to begin race
00057         ThisThread::sleep_for(1000); //gives time for crab to get down track
00058 
00059 
00060         // STATE: END RACE depending on value of x
00061         pc.printf("main() thread preparing to end race\r\n");
00062         start_servo.write(0.0); //set initial start gate position
00063         if (x <= 7) {
00064             pc.printf("main() thread for x = %d, victory display\r\n",x);
00065             finish_servo = 1.0; //gate has a 70% chance to go one way
00066             pc.printf("main() thread waiting for start_sw to stop display\r\n");
00067             while (start_sw.read()) {
00068                 for (i=0; i<5; i++) {
00069                     // blink lights for victory display
00070                     led[i] = 1;
00071                     ThisThread::sleep_for(150);
00072                     led[i]=0;
00073                 } // for
00074             } // while(start_sw.read())
00075         } // if (x<=7)
00076         else { //30% chance the gate will go the other way
00077             pc.printf("main() thread for x = %d, fatality display\r\n",x);
00078             finish_servo.write(0.0);
00079             pc.printf("main() thread waiting for start_sw to stop display\r\n");
00080             while (start_sw.read()) {
00081                 knife_motor.speed (0.5);
00082                 ThisThread::sleep_for(500);
00083                 knife_motor.speed (-0.5);
00084                 ThisThread::sleep_for(500);
00085             } // while(start_sw.read())
00086             knife_motor.speed(0); // stop knife
00087         }
00088         pc.printf("main() thread returning to idle state, reset the racer positions\r\n");
00089         finish_servo.write(0.5); //set finish gate to halfway point
00090 
00091 
00092     } // while(1)
00093 } // main()