Selen Krgo / Mbed 2 deprecated CyberPiranhaPlant

ECE 3882 Plant Project

Dependencies:   mbed Servo

main.cpp@0:423866e831fb, 2019-11-14 (annotated)

Committer:
skrgo3
Date:
Thu Nov 14 05:14:10 2019 +0000
Revision:
0:423866e831fb
Final1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
skrgo3 0:423866e831fb 1 #include "mbed.h"
skrgo3 0:423866e831fb 2 #include "pins.h"
skrgo3 0:423866e831fb 3 #include "Servo.h"
skrgo3 0:423866e831fb 4
skrgo3 0:423866e831fb 5 Serial pc(USBTX, USBRX);
skrgo3 0:423866e831fb 6 AnalogIn photocell1(p18);
skrgo3 0:423866e831fb 7 AnalogIn photocell2(p17);
skrgo3 0:423866e831fb 8 AnalogIn photocell3(p20);
skrgo3 0:423866e831fb 9 AnalogIn photocell4(p19);
skrgo3 0:423866e831fb 10
skrgo3 0:423866e831fb 11 float s1;
skrgo3 0:423866e831fb 12 float s2;
skrgo3 0:423866e831fb 13 float s3;
skrgo3 0:423866e831fb 14 float s4;
skrgo3 0:423866e831fb 15
skrgo3 0:423866e831fb 16 void moveUp () {
skrgo3 0:423866e831fb 17 if (servoControl < 1.0)
skrgo3 0:423866e831fb 18 servoControl = servoControl + .01;
skrgo3 0:423866e831fb 19 }
skrgo3 0:423866e831fb 20
skrgo3 0:423866e831fb 21 void moveDown () {
skrgo3 0:423866e831fb 22 if (servoControl > 0.0)
skrgo3 0:423866e831fb 23 servoControl = servoControl - .01;
skrgo3 0:423866e831fb 24 }
skrgo3 0:423866e831fb 25
skrgo3 0:423866e831fb 26 void moveLeft () {
skrgo3 0:423866e831fb 27 if (driverDir == 1)
skrgo3 0:423866e831fb 28 driverDir = 0;
skrgo3 0:423866e831fb 29 for (int i = 0; i < 50; i++) {
skrgo3 0:423866e831fb 30 driverStep = !driverStep;
skrgo3 0:423866e831fb 31 wait(0.0005);
skrgo3 0:423866e831fb 32 driverStep = !driverStep;
skrgo3 0:423866e831fb 33 wait(0.0005);
skrgo3 0:423866e831fb 34 }
skrgo3 0:423866e831fb 35 }
skrgo3 0:423866e831fb 36
skrgo3 0:423866e831fb 37 void moveRight () {
skrgo3 0:423866e831fb 38 if (driverDir == 0)
skrgo3 0:423866e831fb 39 driverDir = 1;
skrgo3 0:423866e831fb 40 for (int i = 0; i < 50; i++) {
skrgo3 0:423866e831fb 41 driverStep = !driverStep;
skrgo3 0:423866e831fb 42 wait(0.0005);
skrgo3 0:423866e831fb 43 driverStep = !driverStep;
skrgo3 0:423866e831fb 44 wait(0.0005);
skrgo3 0:423866e831fb 45 }
skrgo3 0:423866e831fb 46 }
skrgo3 0:423866e831fb 47
skrgo3 0:423866e831fb 48 void readSensors () {
skrgo3 0:423866e831fb 49 s1 = photocell1;
skrgo3 0:423866e831fb 50 s2 = photocell2;
skrgo3 0:423866e831fb 51 s3 = photocell3;
skrgo3 0:423866e831fb 52 s4 = photocell4;
skrgo3 0:423866e831fb 53 }
skrgo3 0:423866e831fb 54
skrgo3 0:423866e831fb 55 int main () {
skrgo3 0:423866e831fb 56 while(1) {
skrgo3 0:423866e831fb 57 readSensors ();
skrgo3 0:423866e831fb 58 if (s1 - s2 > .05 && s3 - s4 > .05) {
skrgo3 0:423866e831fb 59 moveUp ();
skrgo3 0:423866e831fb 60 moveLeft ();
skrgo3 0:423866e831fb 61 } else if (s2 - s1 > .05 && s3 - s4 > .05) {
skrgo3 0:423866e831fb 62 moveUp ();
skrgo3 0:423866e831fb 63 moveRight ();
skrgo3 0:423866e831fb 64 } else if (s2 - s1 > .05 && s4 - s3 > .05) {
skrgo3 0:423866e831fb 65 moveDown ();
skrgo3 0:423866e831fb 66 moveRight ();
skrgo3 0:423866e831fb 67 } else if (s1 - s2 > .05 && s4 - s3 > .05) {
skrgo3 0:423866e831fb 68 moveDown ();
skrgo3 0:423866e831fb 69 moveLeft ();
skrgo3 0:423866e831fb 70 } else if (s1 - s2 > .05) {
skrgo3 0:423866e831fb 71 moveLeft ();
skrgo3 0:423866e831fb 72 } else if (s2 - s1 > .05) {
skrgo3 0:423866e831fb 73 moveRight ();
skrgo3 0:423866e831fb 74 } else if (s4 - s3 > .05) {
skrgo3 0:423866e831fb 75 moveDown ();
skrgo3 0:423866e831fb 76 } else if (s3 - s4 > .05) {
skrgo3 0:423866e831fb 77 moveUp ();
skrgo3 0:423866e831fb 78 }
skrgo3 0:423866e831fb 79 wait(.05);
skrgo3 0:423866e831fb 80 }
skrgo3 0:423866e831fb 81 }