Tom Murchison
/
UselessBox
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Revision 0:89d76ea57469, committed 2016-11-30
- Comitter:
- tmurchison
- Date:
- Wed Nov 30 04:30:44 2016 +0000
- Commit message:
- Useless Box Code
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Nov 30 04:30:44 2016 +0000
@@ -0,0 +1,39 @@
+#include "mbed.h"
+
+DigitalIn switchin(p19); //Set pin 19 as input for when switch is towards the arm
+DigitalIn switchout(p18); //Set pin 18 as input for when switch is away from arm
+DigitalIn limit(p30); //Set pin 30 as input for limit switch
+
+DigitalOut armout(p21); //Set pin 21 as output for when motor is turning CCW towards switch
+DigitalOut armin(p22); //Set pin 22 as output for when motor is turning CW into box
+
+int main()
+{
+ while(1) //Repeat indefinitely
+ {
+ armin = 0; //Ensure all motor function is stopped
+
+ if ((switchin) && (switchout==0)) //If the switch is pushed towards the arm
+ {
+ while(switchout)
+ {
+ armout = 1; //The MOSFET enabling the motor to turn CCW (towards the switch) is activated
+ wait(0.002); //PWM is used to run motor at a slower speed with full torque so it can still push the switch
+ armout = 0;
+ wait(0.008);
+ }
+ }
+ else if ((switchin==0) && (switchout)) //If the switch is not pushed towards the arm
+ {
+ while(limit) //And the limit switch is not actuated (it is normally closed)
+ //Once the limit switch is actuated the program will end and the motor will stop
+ {
+ armout = 0; //The MOSFET enabling the motor to turn CCW is deactivated
+ armin = 1; //The MOSFET enabling the motor to turn CW (back into box) is activated
+ wait(0.002); //PWM is again used to protect the limit switch
+ armin = 0;
+ wait(0.008);
+ }
+ }
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Nov 30 04:30:44 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/25aea2a3f4e3 \ No newline at end of file