Mechatron Bot
Dependencies: Motor PinDetect Servo mbed
Revision 0:63da85966b5c, committed 2015-10-27
- Comitter:
- m182376
- Date:
- Tue Oct 27 01:30:20 2015 +0000
- Commit message:
- Final Code
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Tue Oct 27 01:30:20 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Motor/#f265e441bcd9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PinDetect.lib Tue Oct 27 01:30:20 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/AjK/code/PinDetect/#cb3afc45028b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Tue Oct 27 01:30:20 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Servo/#36b69a7ced07
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Oct 27 01:30:20 2015 +0000
@@ -0,0 +1,162 @@
+#include "mbed.h"
+#include "Motor.h"
+#include "Servo.h"
+#include "PinDetect.h"
+
+Motor m(p25, p27, p28);
+
+DigitalIn sw1(p16);
+DigitalIn sw2(p17);
+DigitalIn sw3(p18);
+DigitalIn sw4(p19);
+DigitalIn sw5(p20);
+PinDetect push1(p12);
+PinDetect push2(p13);
+Servo servo1(p22);
+Servo servo2(p21);
+
+BusOut lights(p5, p6, p7, p8, p11);
+
+float a;
+float b;
+
+int volatile count=0;
+
+// Callback routine is interrupt activated by a debounced pb1 hit
+void push1_hit_callback (void)
+{
+
+ if (a > 0) {
+
+ servo1 = 0;
+ wait(.2);
+ servo1 = 0.5;
+
+ } else if (a < 0) {
+
+ servo1 = 1;
+ wait(.2);
+ servo1 = 0.5;
+
+ }
+
+}
+// Callback routine is interrupt activated by a debounced pb2 hit
+void push2_hit_callback (void)
+{
+
+ if (a > 0) {
+
+ servo2 = 0;
+ wait(.2);
+ servo2 = 0.5;
+
+ }
+
+ else if (a < 0) {
+
+ servo2 = 1;
+ wait(.2);
+ servo2 = 0.5;
+ }
+
+}
+int main()
+{
+
+ servo1 = 0.5;
+ servo2 = 0.5;
+
+ // Use internal pullups for pushbutton
+ push1.mode(PullUp);
+ push2.mode(PullUp);
+ // Delay for initial pullup to take effect
+ wait(.01);
+ // Setup Interrupt callback functions for a pb hit
+ push1.attach_deasserted(&push1_hit_callback);
+ push2.attach_deasserted(&push2_hit_callback);
+ // Start sampling pb inputs using interrupts
+ push1.setSampleFrequency();
+ push2.setSampleFrequency();
+ //Blink myled in main routine forever while responding to pb changes
+ // via interrupts that activate the callback counter function
+
+ servo1 = 0.5;
+ servo2 = 0.5;
+ servo1.calibrate (.0009, 90);
+ servo2.calibrate (.0009, 90);
+
+ while(1) {
+
+ a = rand()/(float)RAND_MAX*(-1.0)+0.4;
+ b = rand()/(float)RAND_MAX*5.0 +3.0;
+
+ if(sw1 == 1 && sw2!= 1 && sw3 != 1 && sw4 != 1) { //player1
+
+
+
+ if(a>=.28 || a <= -.28) {
+
+ servo2 = 0;
+
+ lights = 31; // LED 1 on
+ wait(.125); // Wait .4 seconds
+ lights= 0;
+
+ m.speed(a);
+ wait(b);
+
+
+
+ }
+ } else if(sw1 != 1 && sw2== 1 && sw3 != 1 && sw4 != 1) { //player2
+ if(a>=.28 || a <= -.28) {
+ lights = 31; //
+ wait(.125); //
+ lights = 0; //
+
+ m.speed(a);
+ wait(b);
+
+ }
+ } else if(sw1 != 1 && sw2!= 1 && sw3 == 1 && sw4 != 1 && sw5 != 1) { //player3
+ if(a>=.28 ) {
+
+ lights = 31; // LED 1&2&3&4&5 on
+ wait(.125); //Wait .4 seconds
+ lights = 0; //LED 1&2&3&4 on
+
+ m.speed(a);
+ wait(b);
+
+ }
+ } else if(sw1 != 1 && sw2!= 1 && sw3 == 1 && sw5 ==1 && sw4 != 1) { //player3
+ if(a>=.28 ) {
+
+ lights = 31; // LED 1&2&3&4&5 on
+ wait(.125); //Wait .4 seconds
+ lights = 0; //LED 1&2&3&4 on
+
+ m.speed(-a);
+ wait(b);
+
+ }
+ } else if(sw4 == 1 && sw1 != 1 && sw2!= 1 && sw3 == 1 && sw5 ==1 || sw4 == 1 && sw1 != 1 && sw2!= 1 && sw3 == 1 || sw4 == 1 && sw1 != 1 && sw2== 1 && sw3 != 1 || sw4 == 1 && sw1 == 1 && sw2!= 1 && sw3 != 1 || sw4 == 1 && sw1 != 1 && sw2!= 1 && sw3 != 1 ) { //player3
+
+ m.speed(0);
+ lights = 31; // LED 1&2&3 on
+ wait(.125); //Wait .4 seconds
+ lights = 0; //LED 1&2 on
+ wait(.125); //Wait .4 seconds
+ lights = 31; //LED 1 on
+ wait(.125); //Wait .4 seconds
+ lights = 0; //LED 1&2 on
+ wait(.125); //Wait .4 seconds
+ lights = 31; //LED 1 on
+ wait(.125); //Wait .4 seconds
+ lights = 0; //LED 1&2 on
+ wait(.125); //Wait .4 seconds
+
+ }
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Oct 27 01:30:20 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/34e6b704fe68 \ No newline at end of file