Revision 8:30eb49981a91, committed 2014-10-23

Comitter:

westobrien

Date:

Thu Oct 23 00:05:07 2014 +0000

Parent:

7:39fd13b43380

Child:

9:8682923e9260

Commit message:

cranes for life

Changed in this revision

--- a/main.cpp	Mon Oct 20 00:54:06 2014 +0000
+++ b/main.cpp	Thu Oct 23 00:05:07 2014 +0000
@@ -20,8 +20,7 @@
 int main()
 {
 
-    int switch1;
-    int switch2;
+    
     
     
 
@@ -30,29 +29,29 @@
     float mspeed;
     w = 16;
     while(1) {
-        switch1 = sw1.read(); //stores input from sw1 and sw2, constantly updating inside the loop
-        switch2 = sw2.read();
+        
         if( sw4 == 1 && sw5 == 0 && sw1 == 0 && sw2 == 0 ) {
-            mspeed = 0.35;
-            kate.speed(mspeed);
-            wait(.03);
-            mspeed = 0.0;
+            mspeed = 0.40;
             kate.speed(mspeed);
             wait(.05);
+            mspeed = 0.0;
+            kate.speed(mspeed);
+            wait(.25);
             
-            if(w == 0)
-                w=16;
+            if(w < 1 || w > 16){
+                w=16; }
             w = w/2;    //moves LED to the right by changing binary value
         } else if( sw5 == 1 && sw4 == 0 && sw1 == 0 && sw2 == 0) {
-            mspeed = -0.35;
+            mspeed = -0.40;
             kate.speed(mspeed);
-            wait(.03);
+            wait(.05);
             mspeed = 0.0;
             kate.speed(mspeed);
-            wait(.05);
+            wait(.25);
             
-            if(w == 16 )
+            if(w < 1 || w > 16){
                 w=1;
+                }
             w = w*2;
         } else if (sw3 == 1 && sw2 == 0 && sw1 == 0 && sw4 == 0 && sw5 == 0 ) {
             for (servopos = 0; servopos <= 0.5; servopos += 0.5) {
@@ -68,7 +67,7 @@
             wait(.05);
             w= 0;
         } else if(sw2 == 1 && sw1 == 0 && sw4 == 0 && sw5 == 0) {
-            armpos -= .1;
+            armpos -= .08;
             arm = armpos;
             wait(.05);
             w=3;