/*#############################################################

Program Name    : ex1_servo_switches
Author          : Grant Phillips
Date Modified   : 14/01/2016
Compiler        : ARMmbed
Tested On       : STM32F4-Discovery

Description     : Example program that changes the position of
                  a servo based on the inputs from 8 switches.
                  Each switch will correspond to a specific 
                  pulse value, with SW0 being 700us and SW7 
                  being 2300us.  SW0 has the lowest priority 
                  and SW7 has the highest, i.e. if SW0 and SW3
                  is both ON, SW3 will take priority.  If all
                  the switches are off the servo will move to
                  the centre position (1500us)      

Requirements    : * STM32F4-Discovery Board
              
Circuit         : * Servo control signal connected to PA15
                  * 8 switches connected to PE8 - PE15 with
                    pullup resitors

##############################################################*/

#include "mbed.h"

DigitalIn SW0(PE_8);
DigitalIn SW1(PE_9);
DigitalIn SW2(PE_10);
DigitalIn SW3(PE_11);
DigitalIn SW4(PE_12);
DigitalIn SW5(PE_13);
DigitalIn SW6(PE_14);
DigitalIn SW7(PE_15);

PwmOut servo(PA_15);    //default period is 20ms (which is perfect for servos)

int main() {
    while(1) {
        if(SW7 == 0)                        //remember the switches are inverse logic
            servo.pulsewidth_us(2300);                                                              
        else if(SW6 == 0)
            servo.pulsewidth_us(2000);                                                                       
        else if(SW5 == 0)
            servo.pulsewidth_us(1800);                                                                       
        else if(SW4 == 0)
            servo.pulsewidth_us(1600);                                                                       
        else if(SW3 == 0)
            servo.pulsewidth_us(1400);                                                                        
        else if(SW2 == 0)
            servo.pulsewidth_us(1200);                                                                        
        else if(SW1 == 0)
            servo.pulsewidth_us(1000);                                                                        
        else if(SW0 == 0)
            servo.pulsewidth_us(700);                                                                         
        else
            servo.pulsewidth_us(1500);      //centre position if all switches are off
    }
}