Tom Murchison / Mbed 2 deprecated UselessBox

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Dependencies:   mbed

main.cpp@0:89d76ea57469, 2016-11-30 (annotated)

Committer:
tmurchison
Date:
Wed Nov 30 04:30:44 2016 +0000
Revision:
0:89d76ea57469
Useless Box Code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tmurchison 0:89d76ea57469 1 #include "mbed.h"
tmurchison 0:89d76ea57469 2
tmurchison 0:89d76ea57469 3 DigitalIn switchin(p19); //Set pin 19 as input for when switch is towards the arm
tmurchison 0:89d76ea57469 4 DigitalIn switchout(p18); //Set pin 18 as input for when switch is away from arm
tmurchison 0:89d76ea57469 5 DigitalIn limit(p30); //Set pin 30 as input for limit switch
tmurchison 0:89d76ea57469 6
tmurchison 0:89d76ea57469 7 DigitalOut armout(p21); //Set pin 21 as output for when motor is turning CCW towards switch
tmurchison 0:89d76ea57469 8 DigitalOut armin(p22); //Set pin 22 as output for when motor is turning CW into box
tmurchison 0:89d76ea57469 9
tmurchison 0:89d76ea57469 10 int main()
tmurchison 0:89d76ea57469 11 {
tmurchison 0:89d76ea57469 12 while(1) //Repeat indefinitely
tmurchison 0:89d76ea57469 13 {
tmurchison 0:89d76ea57469 14 armin = 0; //Ensure all motor function is stopped
tmurchison 0:89d76ea57469 15
tmurchison 0:89d76ea57469 16 if ((switchin) && (switchout==0)) //If the switch is pushed towards the arm
tmurchison 0:89d76ea57469 17 {
tmurchison 0:89d76ea57469 18 while(switchout)
tmurchison 0:89d76ea57469 19 {
tmurchison 0:89d76ea57469 20 armout = 1; //The MOSFET enabling the motor to turn CCW (towards the switch) is activated
tmurchison 0:89d76ea57469 21 wait(0.002); //PWM is used to run motor at a slower speed with full torque so it can still push the switch
tmurchison 0:89d76ea57469 22 armout = 0;
tmurchison 0:89d76ea57469 23 wait(0.008);
tmurchison 0:89d76ea57469 24 }
tmurchison 0:89d76ea57469 25 }
tmurchison 0:89d76ea57469 26 else if ((switchin==0) && (switchout)) //If the switch is not pushed towards the arm
tmurchison 0:89d76ea57469 27 {
tmurchison 0:89d76ea57469 28 while(limit) //And the limit switch is not actuated (it is normally closed)
tmurchison 0:89d76ea57469 29 //Once the limit switch is actuated the program will end and the motor will stop
tmurchison 0:89d76ea57469 30 {
tmurchison 0:89d76ea57469 31 armout = 0; //The MOSFET enabling the motor to turn CCW is deactivated
tmurchison 0:89d76ea57469 32 armin = 1; //The MOSFET enabling the motor to turn CW (back into box) is activated
tmurchison 0:89d76ea57469 33 wait(0.002); //PWM is again used to protect the limit switch
tmurchison 0:89d76ea57469 34 armin = 0;
tmurchison 0:89d76ea57469 35 wait(0.008);
tmurchison 0:89d76ea57469 36 }
tmurchison 0:89d76ea57469 37 }
tmurchison 0:89d76ea57469 38 }
tmurchison 0:89d76ea57469 39 }