main.cpp

00001 #include "mbed.h"
00002 #include "Motor.h"
00003 #include "Servo.h"
00004 #include "PinDetect.h"
00005  
00006 Motor m(p25, p27, p28);
00007 
00008 DigitalIn sw1(p16);
00009 DigitalIn sw2(p17);
00010 DigitalIn sw3(p18);
00011 DigitalIn sw4(p19);
00012 DigitalIn sw5(p20);
00013 PinDetect push1(p12);
00014 PinDetect push2(p13);
00015 Servo servo1(p22);
00016 Servo servo2(p21);
00017 
00018 BusOut lights(p5, p6, p7, p8, p11);
00019 
00020 float a;
00021 float b;
00022 
00023 int volatile count=0;
00024 
00025 // Callback routine is interrupt activated by a debounced pb1 hit
00026 void push1_hit_callback (void)
00027 {
00028 
00029     if (a > 0) {
00030 
00031         servo1 = 0;
00032         wait(.2);
00033         servo1 = 0.5;
00034 
00035     } else if (a < 0) {
00036 
00037         servo1 = 1;
00038         wait(.2);
00039         servo1 = 0.5;
00040 
00041     }
00042 
00043 }
00044 // Callback routine is interrupt activated by a debounced pb2 hit
00045 void push2_hit_callback (void)
00046 {
00047 
00048     if (a > 0) {
00049 
00050         servo2 = 0;
00051         wait(.2);
00052         servo2 = 0.5;
00053 
00054     }
00055 
00056     else if (a < 0) {
00057 
00058         servo2 = 1;
00059         wait(.2);
00060         servo2 = 0.5;
00061     }
00062 
00063 }
00064 int main()
00065 {
00066 
00067     servo1 = 0.5;
00068     servo2 = 0.5;
00069 
00070     // Use internal pullups for pushbutton
00071     push1.mode(PullUp);
00072     push2.mode(PullUp);
00073     // Delay for initial pullup to take effect
00074     wait(.01);
00075     // Setup Interrupt callback functions for a pb hit
00076     push1.attach_deasserted(&push1_hit_callback);
00077     push2.attach_deasserted(&push2_hit_callback);
00078     // Start sampling pb inputs using interrupts
00079     push1.setSampleFrequency();
00080     push2.setSampleFrequency();
00081     //Blink myled in main routine forever while responding to pb changes
00082     // via interrupts that activate the callback counter function
00083 
00084     servo1 = 0.5;
00085     servo2 = 0.5;
00086     servo1.calibrate (.0009, 90);
00087     servo2.calibrate (.0009, 90);
00088 
00089     while(1) {
00090 
00091         a = rand()/(float)RAND_MAX*(-1.0)+0.4;
00092         b = rand()/(float)RAND_MAX*5.0 +3.0;
00093 
00094         if(sw1 == 1 && sw2!= 1 && sw3 != 1 && sw4 != 1) {  //player1
00095 
00096 
00097 
00098             if(a>=.28 || a <= -.28) {
00099 
00100                 servo2 = 0;
00101                 
00102                 lights = 31; // LED 1 on
00103                 wait(.125); // Wait .4 seconds
00104                 lights= 0;
00105 
00106                 m.speed(a);
00107                 wait(b);
00108 
00109 
00110 
00111             }
00112         } else if(sw1 != 1 && sw2== 1 && sw3 != 1 && sw4 != 1) { //player2
00113             if(a>=.28 || a <= -.28) {
00114                 lights = 31; //
00115                 wait(.125); //
00116                 lights = 0; //
00117 
00118                 m.speed(a);
00119                 wait(b);
00120 
00121             }
00122         } else if(sw1 != 1 && sw2!= 1 && sw3 == 1 && sw4 != 1 && sw5 != 1) { //player3
00123             if(a>=.28 ) {
00124 
00125                 lights = 31; // LED 1&2&3&4&5 on
00126                 wait(.125); //Wait .4 seconds
00127                 lights = 0; //LED 1&2&3&4 on
00128 
00129                 m.speed(a);
00130                 wait(b);
00131 
00132             }
00133         } else if(sw1 != 1 && sw2!= 1 && sw3 == 1 && sw5 ==1 && sw4 != 1) { //player3
00134             if(a>=.28 ) {
00135 
00136                 lights = 31; // LED 1&2&3&4&5 on
00137                 wait(.125); //Wait .4 seconds
00138                 lights = 0; //LED 1&2&3&4 on
00139 
00140                 m.speed(-a);
00141                 wait(b);
00142 
00143             }
00144         } 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
00145 
00146             m.speed(0);
00147             lights = 31; // LED 1&2&3 on
00148             wait(.125); //Wait .4 seconds
00149             lights = 0; //LED 1&2 on
00150             wait(.125); //Wait .4 seconds
00151             lights = 31; //LED 1 on
00152             wait(.125); //Wait .4 seconds
00153             lights = 0; //LED 1&2 on
00154             wait(.125); //Wait .4 seconds
00155             lights = 31; //LED 1 on
00156             wait(.125); //Wait .4 seconds
00157             lights = 0; //LED 1&2 on
00158             wait(.125); //Wait .4 seconds
00159 
00160         }
00161     }
00162 }