Dennis Evangelista
DE upgrade of Crabrace code. Note you still need to add switches and (external) LEDs.
Revision 0:4d82538f5640, committed 2018-10-22
- Comitter:
- evangeli
- Date:
- Mon Oct 22 15:50:15 2018 +0000
- Child:
- 1:6370f10e13db
- Commit message:
- Initial commit
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/.gitignore Mon Oct 22 15:50:15 2018 +0000 @@ -0,0 +1,4 @@ +.build +.mbed +projectfiles +*.py*
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Mon Oct 22 15:50:15 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/simon/code/Motor/#264404964fb0
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/README.md Mon Oct 22 15:50:15 2018 +0000 @@ -0,0 +1,3 @@ +# ES200 3321 Crab Race +### MIDN 3/c Pak, Tamas, +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Mon Oct 22 15:50:15 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/simon/code/Servo/#36b69a7ced07
--- /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
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-os.lib Mon Oct 22 15:50:15 2018 +0000 @@ -0,0 +1,1 @@ +https://github.com/ARMmbed/mbed-os/#e1bea44212b8275f7d8ce7253e758c2e25c57482