Diff: src/actuators.cpp

Revision:

4:628468ce3e86

Parent:

3:2f7a7e2cd49e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/actuators.cpp	Sat Dec 29 07:04:53 2018 +0000
@@ -0,0 +1,63 @@
+/*
+* Authors: Group 4 Adam Elghor, Brian Kaplan, Sayak Chatterjee, Moraa Onwonga
+* Purpose: Controls the actuators of the safe
+* Language:  C++
+*/
+#include "actuators.h"
+#include "parameters.h"
+#include "Servo.h"
+
+
+Servo rcServo1(p21); // pwm
+Servo rcServo2(p22); // pwm
+Servo middle(p23);
+
+/*
+* Function:  turnsRcServosRight
+* --------------------
+*  Turns the servos to the right
+*
+*
+*/
+void turnsRcServosRight() {
+	printf("I entered turnsRCServoRight");
+	rcServo1 = 1.0f;
+	rcServo2 = 1.0f;
+}
+
+/*
+* Function:  turnsRcServosLeft
+* --------------------
+*  Turns the servos to the right
+*
+*
+*/
+void turnsRcServosLeft() {
+	rcServo1 = 0.0f;
+	rcServo2 = 0.0f;
+}
+
+
+/*
+* Function:  openSafe
+* --------------------
+*  Opens the safe
+*/
+void openSafe() {
+	middle = 1.0f;
+	wait(1);
+	turnsRcServosRight();
+}
+
+/*
+* Function:  lockSafe
+* --------------------
+*  Locks the safe
+*/
+void lockSafe() {
+	turnsRcServosLeft();
+	wait(3);
+	middle = 1.0f;
+}
+
+