Diff: main.cpp

Revision:

3:0a4bfcb3f339

Parent:

2:b20570f160c6

Child:

4:84bd5ead83f9

--- a/main.cpp	Fri Oct 07 17:40:28 2016 +0000
+++ b/main.cpp	Fri Oct 07 17:48:34 2016 +0000
@@ -7,7 +7,11 @@
 //DigitalOut Direction_M2(D7);
 
 InterruptIn Switch_1(D8);
+InterruptIn Switch_2(D9);
+InterruptIn Switch_3(D10);
 int counter_extension=1;
+int counter_rotation_left=1;
+int counter_rotation_right=1;
 
 MODSERIAL pc(USBTX, USBRX);  
 
@@ -48,12 +52,66 @@
     extension();
 }
 
+void rotation_left (){
+    switch (counter_rotation_left){
+        case 1:
+            digitalWrite(Direction_M1, 1);   //The arm will rotate to the left  
+            analogWrite(Speed_M1, 255);      //The motor is turned on
+            pc.printf("The arm will now rotate to the left");
+            wait(0.5f);
+            break;
+        case 2:
+            digitalWrite(Direction_M1, 1);   //The arm will rotate to the left  
+            analogWrite(Speed_M1, 0);        //The motor is turned off
+            pc.printf("The arm will now stop");
+            wait(0.5f);
+            break;
+    }
+}                 
+
+void switch_counter_rotation_left (){
+    counter_rotation_left++;
+    if (counter_rotation_left > 2){
+        counter_rotation_left=1;
+    }
+    rotation_left();
+}
+
+void rotation_right (){
+    switch (counter_rotation_right){
+        case 1:
+            digitalWrite(Direction_M1, 0);   //The arm will rotate to the right 
+            analogWrite(Speed_M1, 255);      //The motor is turned on
+            pc.printf("The arm will now rotate to the right");
+            wait(0.5f);
+            break;
+        case 2:
+            digitalWrite(Direction_M1, 0);   //The arm will rotate to the right
+            analogWrite(Speed_M1, 0);        //The motor is turned off
+            pc.printf("The arm will now stop");
+            wait(0.5f);
+            break;
+    }
+}
+
+void switch_counter_rotation_right (){
+    counter_rotation_right++;
+    if (counter_rotation_right> 2){
+        counter_rotation_right=1;
+    }
+    rotation_right();
+}
+
 int main(){
     pc.baud(115200);
     pc.printf("RESET \n");
     
     digitalWrite(Direction_M1, 1);   //The arm will initially get longer  
     analogWrite(Speed_M1, 0);        //The motor is initially turned off
+    digitalWrite(Direction_M1, 1);   //The arm will initially get longer  
+    analogWrite(Speed_M1, 0);        //The motor is initially turned off
     
     switch_1.rise(&switch_counter_extension);  
+    switch_2.rise(&switch_counter_rotation_left);
+    switch_3.rise(&switch_counter_rotation_right);
 }
\ No newline at end of file