Demo Team / Mbed 2 deprecated APM_PONG_LEDs_7seg2_0

updated 7seg controls for new 7 seg boards

Dependencies:   PixelArray WS2812 mbed

Fork of frdm_pong_table_controller by Demo Team

main.cpp@0:f2b739e846ae, 2017-02-27 (annotated)

Committer:
benswindell
Date:
Mon Feb 27 16:38:51 2017 +0000
Revision:
0:f2b739e846ae
Child:
1:24bc4d8ed2ae
Added in trace;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benswindell 0:f2b739e846ae 1 #include "mbed.h"
benswindell 0:f2b739e846ae 2 #include "WS2812.h"
benswindell 0:f2b739e846ae 3 #include "PixelArray.h"
benswindell 0:f2b739e846ae 4
benswindell 0:f2b739e846ae 5 #define WS2812_BUF 112
benswindell 0:f2b739e846ae 6 #define NUM_COLORS 6
benswindell 0:f2b739e846ae 7 #define NUM_LEDS_PER_COLOR 1
benswindell 0:f2b739e846ae 8
benswindell 0:f2b739e846ae 9 //-------- Colours -----------
benswindell 0:f2b739e846ae 10 #define RED 0x2f0000
benswindell 0:f2b739e846ae 11 #define YELLOW 0x2f2f00
benswindell 0:f2b739e846ae 12 #define GREEN 0x002f00
benswindell 0:f2b739e846ae 13 #define LIGHTBLUE 0x002f2f
benswindell 0:f2b739e846ae 14 #define DARKBLUE 0x00002f
benswindell 0:f2b739e846ae 15 #define BLUE 0x0000ff // Player scored a goal
benswindell 0:f2b739e846ae 16 #define PINK 0x2f002f
benswindell 0:f2b739e846ae 17 #define OFF 0x000000
benswindell 0:f2b739e846ae 18 #define WHITE 0xffffff
benswindell 0:f2b739e846ae 19 #define ARMBLUE 0x128BAB
benswindell 0:f2b739e846ae 20 #define PURPLE 0xff0055 // Player has conceded a goal
benswindell 0:f2b739e846ae 21
benswindell 0:f2b739e846ae 22 // GPIO
benswindell 0:f2b739e846ae 23 AnalogIn robotBreakBeam(A0);
benswindell 0:f2b739e846ae 24 AnalogIn playerBreakBeam(A1);
benswindell 0:f2b739e846ae 25 DigitalOut led_green(LED_GREEN, 1);
benswindell 0:f2b739e846ae 26
benswindell 0:f2b739e846ae 27 // SERIAL
benswindell 0:f2b739e846ae 28 Serial pc(USBTX, USBRX); // tx, rx
benswindell 0:f2b739e846ae 29
benswindell 0:f2b739e846ae 30 // LED STRIPS
benswindell 0:f2b739e846ae 31 // See the program page for information on the timing numbers
benswindell 0:f2b739e846ae 32 // The given numbers are for the K64F
benswindell 0:f2b739e846ae 33 WS2812 robotScoreLED(D9, WS2812_BUF, 0, 5, 5, 0);
benswindell 0:f2b739e846ae 34 WS2812 playerScoreLED(D8,WS2812_BUF, 0, 5, 5, 0);
benswindell 0:f2b739e846ae 35 WS2812 robotGoalLED(D7,WS2812_BUF, 0, 5, 5, 0);
benswindell 0:f2b739e846ae 36 WS2812 playerGoalLED(D6,WS2812_BUF, 0, 5, 5, 0);
benswindell 0:f2b739e846ae 37
benswindell 0:f2b739e846ae 38 // LED Variables
benswindell 0:f2b739e846ae 39 bool seg1A, seg1B, seg1C, seg1D, seg1E, seg1F, seg1G;
benswindell 0:f2b739e846ae 40 int seg1Array[112];
benswindell 0:f2b739e846ae 41 int mainArray[11][122];
benswindell 0:f2b739e846ae 42 PixelArray px(WS2812_BUF);
benswindell 0:f2b739e846ae 43
benswindell 0:f2b739e846ae 44 // Score counters
benswindell 0:f2b739e846ae 45 int robotScore;
benswindell 0:f2b739e846ae 46 int playerScore;
benswindell 0:f2b739e846ae 47 int scoreLimit = 3;
benswindell 0:f2b739e846ae 48 bool finishedGame = false;
benswindell 0:f2b739e846ae 49 int endFlashes = 0;
benswindell 0:f2b739e846ae 50 int numFlashes;
benswindell 0:f2b739e846ae 51
benswindell 0:f2b739e846ae 52 // Robot Bream Beam value
benswindell 0:f2b739e846ae 53 double prevRbbValue; // Previous Robot break beam value
benswindell 0:f2b739e846ae 54 double prevPbbValue; // Previous player break beam value
benswindell 0:f2b739e846ae 55
benswindell 0:f2b739e846ae 56 // FUNCTION DECLERATIONS
benswindell 0:f2b739e846ae 57 void Write7Seg(int num);
benswindell 0:f2b739e846ae 58 void SetLEDArray(int x);
benswindell 0:f2b739e846ae 59 void WriteRobotGoal(bool scored);
benswindell 0:f2b739e846ae 60 void WritePlayerGoal(bool scored);
benswindell 0:f2b739e846ae 61 void WriteScores();
benswindell 0:f2b739e846ae 62 void HandleGoal(bool hasRobotScored);
benswindell 0:f2b739e846ae 63 void WritePxScores(int line_num);
benswindell 0:f2b739e846ae 64 void WritePxGoal(unsigned int colour);
benswindell 0:f2b739e846ae 65
benswindell 0:f2b739e846ae 66
benswindell 0:f2b739e846ae 67 void setup()
benswindell 0:f2b739e846ae 68 {
benswindell 0:f2b739e846ae 69 // Set brightness of the 4 LED strips
benswindell 0:f2b739e846ae 70 robotScoreLED.setII(0xFF);
benswindell 0:f2b739e846ae 71 robotScoreLED.useII(WS2812::GLOBAL);
benswindell 0:f2b739e846ae 72 playerScoreLED.setII(0xFF);
benswindell 0:f2b739e846ae 73 playerScoreLED.useII(WS2812::GLOBAL);
benswindell 0:f2b739e846ae 74 robotGoalLED.setII(0xFF);
benswindell 0:f2b739e846ae 75 robotGoalLED.useII(WS2812::GLOBAL);
benswindell 0:f2b739e846ae 76 playerGoalLED.setII(0xFF);
benswindell 0:f2b739e846ae 77 playerGoalLED.useII(WS2812::GLOBAL);
benswindell 0:f2b739e846ae 78
benswindell 0:f2b739e846ae 79 // Turn on green LED
benswindell 0:f2b739e846ae 80 led_green = 0;
benswindell 0:f2b739e846ae 81
benswindell 0:f2b739e846ae 82 // Fills 2D array with data
benswindell 0:f2b739e846ae 83 for(int i=0; i<10; i++) {
benswindell 0:f2b739e846ae 84 Write7Seg(i);
benswindell 0:f2b739e846ae 85 }
benswindell 0:f2b739e846ae 86
benswindell 0:f2b739e846ae 87 // Set scores to 0
benswindell 0:f2b739e846ae 88 robotScore = 0;
benswindell 0:f2b739e846ae 89 playerScore = 0;
benswindell 0:f2b739e846ae 90 numFlashes = 0;
benswindell 0:f2b739e846ae 91
benswindell 0:f2b739e846ae 92 // Set LEDS to start values
benswindell 0:f2b739e846ae 93 WriteScores();
benswindell 0:f2b739e846ae 94 wait(0.01);
benswindell 0:f2b739e846ae 95 WritePlayerGoal(true);
benswindell 0:f2b739e846ae 96 wait(0.01);
benswindell 0:f2b739e846ae 97 WriteRobotGoal(true);
benswindell 0:f2b739e846ae 98
benswindell 0:f2b739e846ae 99 // Turn off green LED
benswindell 0:f2b739e846ae 100 led_green = 1;
benswindell 0:f2b739e846ae 101 }
benswindell 0:f2b739e846ae 102
benswindell 0:f2b739e846ae 103 // Set segment variables
benswindell 0:f2b739e846ae 104 void Write7Seg(int num)
benswindell 0:f2b739e846ae 105 {
benswindell 0:f2b739e846ae 106 switch (num) {
benswindell 0:f2b739e846ae 107 case 0 :
benswindell 0:f2b739e846ae 108 // Off
benswindell 0:f2b739e846ae 109 seg1A = 1;
benswindell 0:f2b739e846ae 110 seg1B = 1;
benswindell 0:f2b739e846ae 111 seg1C = 1;
benswindell 0:f2b739e846ae 112 seg1D = 1;
benswindell 0:f2b739e846ae 113 seg1E = 1;
benswindell 0:f2b739e846ae 114 seg1F = 1;
benswindell 0:f2b739e846ae 115 seg1G = 0;
benswindell 0:f2b739e846ae 116
benswindell 0:f2b739e846ae 117 SetLEDArray(0);
benswindell 0:f2b739e846ae 118
benswindell 0:f2b739e846ae 119 break;
benswindell 0:f2b739e846ae 120
benswindell 0:f2b739e846ae 121 case 1 :
benswindell 0:f2b739e846ae 122 // 1
benswindell 0:f2b739e846ae 123 seg1A = 0;
benswindell 0:f2b739e846ae 124 seg1B = 1;
benswindell 0:f2b739e846ae 125 seg1C = 1;
benswindell 0:f2b739e846ae 126 seg1D = 0;
benswindell 0:f2b739e846ae 127 seg1E = 0;
benswindell 0:f2b739e846ae 128 seg1F = 0;
benswindell 0:f2b739e846ae 129 seg1G = 0;
benswindell 0:f2b739e846ae 130
benswindell 0:f2b739e846ae 131 SetLEDArray(1);
benswindell 0:f2b739e846ae 132 break;
benswindell 0:f2b739e846ae 133
benswindell 0:f2b739e846ae 134 case 2 :
benswindell 0:f2b739e846ae 135 // 2
benswindell 0:f2b739e846ae 136 seg1A = 1;
benswindell 0:f2b739e846ae 137 seg1B = 1;
benswindell 0:f2b739e846ae 138 seg1C = 0;
benswindell 0:f2b739e846ae 139 seg1D = 1;
benswindell 0:f2b739e846ae 140 seg1E = 1;
benswindell 0:f2b739e846ae 141 seg1F = 0;
benswindell 0:f2b739e846ae 142 seg1G = 1;
benswindell 0:f2b739e846ae 143
benswindell 0:f2b739e846ae 144 SetLEDArray(2);
benswindell 0:f2b739e846ae 145
benswindell 0:f2b739e846ae 146 break;
benswindell 0:f2b739e846ae 147
benswindell 0:f2b739e846ae 148 case 3 :
benswindell 0:f2b739e846ae 149 // 3
benswindell 0:f2b739e846ae 150 seg1A = 1;
benswindell 0:f2b739e846ae 151 seg1B = 1;
benswindell 0:f2b739e846ae 152 seg1C = 1;
benswindell 0:f2b739e846ae 153 seg1D = 1;
benswindell 0:f2b739e846ae 154 seg1E = 0;
benswindell 0:f2b739e846ae 155 seg1F = 0;
benswindell 0:f2b739e846ae 156 seg1G = 1;
benswindell 0:f2b739e846ae 157
benswindell 0:f2b739e846ae 158 SetLEDArray(3);
benswindell 0:f2b739e846ae 159 break;
benswindell 0:f2b739e846ae 160
benswindell 0:f2b739e846ae 161 case 4:
benswindell 0:f2b739e846ae 162 // 4
benswindell 0:f2b739e846ae 163 seg1A = 0;
benswindell 0:f2b739e846ae 164 seg1B = 1;
benswindell 0:f2b739e846ae 165 seg1C = 1;
benswindell 0:f2b739e846ae 166 seg1D = 0;
benswindell 0:f2b739e846ae 167 seg1E = 0;
benswindell 0:f2b739e846ae 168 seg1F = 1;
benswindell 0:f2b739e846ae 169 seg1G = 1;
benswindell 0:f2b739e846ae 170
benswindell 0:f2b739e846ae 171 SetLEDArray(4);
benswindell 0:f2b739e846ae 172
benswindell 0:f2b739e846ae 173 break;
benswindell 0:f2b739e846ae 174
benswindell 0:f2b739e846ae 175 case 5:
benswindell 0:f2b739e846ae 176 // 5
benswindell 0:f2b739e846ae 177 seg1A = 1;
benswindell 0:f2b739e846ae 178 seg1B = 0;
benswindell 0:f2b739e846ae 179 seg1C = 1;
benswindell 0:f2b739e846ae 180 seg1D = 1;
benswindell 0:f2b739e846ae 181 seg1E = 0;
benswindell 0:f2b739e846ae 182 seg1F = 1;
benswindell 0:f2b739e846ae 183 seg1G = 1;
benswindell 0:f2b739e846ae 184
benswindell 0:f2b739e846ae 185 SetLEDArray(5);
benswindell 0:f2b739e846ae 186
benswindell 0:f2b739e846ae 187 break;
benswindell 0:f2b739e846ae 188
benswindell 0:f2b739e846ae 189 case 6:
benswindell 0:f2b739e846ae 190 // 6
benswindell 0:f2b739e846ae 191 seg1A = 1;
benswindell 0:f2b739e846ae 192 seg1B = 0;
benswindell 0:f2b739e846ae 193 seg1C = 1;
benswindell 0:f2b739e846ae 194 seg1D = 1;
benswindell 0:f2b739e846ae 195 seg1E = 1;
benswindell 0:f2b739e846ae 196 seg1F = 1;
benswindell 0:f2b739e846ae 197 seg1G = 1;
benswindell 0:f2b739e846ae 198
benswindell 0:f2b739e846ae 199 SetLEDArray(6);
benswindell 0:f2b739e846ae 200
benswindell 0:f2b739e846ae 201 break;
benswindell 0:f2b739e846ae 202
benswindell 0:f2b739e846ae 203 case 7:
benswindell 0:f2b739e846ae 204 // 7
benswindell 0:f2b739e846ae 205 seg1A = 1;
benswindell 0:f2b739e846ae 206 seg1B = 1;
benswindell 0:f2b739e846ae 207 seg1C = 1;
benswindell 0:f2b739e846ae 208 seg1D = 0;
benswindell 0:f2b739e846ae 209 seg1E = 0;
benswindell 0:f2b739e846ae 210 seg1F = 0;
benswindell 0:f2b739e846ae 211 seg1G = 0;
benswindell 0:f2b739e846ae 212
benswindell 0:f2b739e846ae 213 SetLEDArray(7);
benswindell 0:f2b739e846ae 214
benswindell 0:f2b739e846ae 215 break;
benswindell 0:f2b739e846ae 216
benswindell 0:f2b739e846ae 217 case 8:
benswindell 0:f2b739e846ae 218 // 8
benswindell 0:f2b739e846ae 219 seg1A = 1;
benswindell 0:f2b739e846ae 220 seg1B = 1;
benswindell 0:f2b739e846ae 221 seg1C = 1;
benswindell 0:f2b739e846ae 222 seg1D = 1;
benswindell 0:f2b739e846ae 223 seg1E = 1;
benswindell 0:f2b739e846ae 224 seg1F = 1;
benswindell 0:f2b739e846ae 225 seg1G = 1;
benswindell 0:f2b739e846ae 226
benswindell 0:f2b739e846ae 227 SetLEDArray(8);
benswindell 0:f2b739e846ae 228 break;
benswindell 0:f2b739e846ae 229
benswindell 0:f2b739e846ae 230 case 9:
benswindell 0:f2b739e846ae 231 // 9
benswindell 0:f2b739e846ae 232 seg1A = 1;
benswindell 0:f2b739e846ae 233 seg1B = 1;
benswindell 0:f2b739e846ae 234 seg1C = 1;
benswindell 0:f2b739e846ae 235 seg1D = 0;
benswindell 0:f2b739e846ae 236 seg1E = 0;
benswindell 0:f2b739e846ae 237 seg1F = 1;
benswindell 0:f2b739e846ae 238 seg1G = 1;
benswindell 0:f2b739e846ae 239
benswindell 0:f2b739e846ae 240 SetLEDArray(9);
benswindell 0:f2b739e846ae 241 break;
benswindell 0:f2b739e846ae 242
benswindell 0:f2b739e846ae 243 case 10:
benswindell 0:f2b739e846ae 244 // OFF
benswindell 0:f2b739e846ae 245 seg1A = 0;
benswindell 0:f2b739e846ae 246 seg1B = 0;
benswindell 0:f2b739e846ae 247 seg1C = 0;
benswindell 0:f2b739e846ae 248 seg1D = 0;
benswindell 0:f2b739e846ae 249 seg1E = 0;
benswindell 0:f2b739e846ae 250 seg1F = 0;
benswindell 0:f2b739e846ae 251 seg1G = 0;
benswindell 0:f2b739e846ae 252
benswindell 0:f2b739e846ae 253 SetLEDArray(10);
benswindell 0:f2b739e846ae 254 break;
benswindell 0:f2b739e846ae 255
benswindell 0:f2b739e846ae 256 default :
benswindell 0:f2b739e846ae 257
benswindell 0:f2b739e846ae 258 break;
benswindell 0:f2b739e846ae 259
benswindell 0:f2b739e846ae 260 }
benswindell 0:f2b739e846ae 261 }
benswindell 0:f2b739e846ae 262
benswindell 0:f2b739e846ae 263 // Write segment config to main array
benswindell 0:f2b739e846ae 264 void SetLEDArray(int x)
benswindell 0:f2b739e846ae 265 {
benswindell 0:f2b739e846ae 266 for (int i = 0; i < WS2812_BUF; i++) {
benswindell 0:f2b739e846ae 267 if (i < 16) {
benswindell 0:f2b739e846ae 268 mainArray[x][i] = seg1A;
benswindell 0:f2b739e846ae 269 }
benswindell 0:f2b739e846ae 270
benswindell 0:f2b739e846ae 271 if ( i >= 16 && i < 32) {
benswindell 0:f2b739e846ae 272 mainArray[x][i] = seg1B;
benswindell 0:f2b739e846ae 273 }
benswindell 0:f2b739e846ae 274
benswindell 0:f2b739e846ae 275 if (i >= 32 && i < 48) {
benswindell 0:f2b739e846ae 276 mainArray[x][i] = seg1C;
benswindell 0:f2b739e846ae 277 }
benswindell 0:f2b739e846ae 278
benswindell 0:f2b739e846ae 279 if (i >= 48 && i < 64) {
benswindell 0:f2b739e846ae 280 mainArray[x][i]= seg1D;
benswindell 0:f2b739e846ae 281 }
benswindell 0:f2b739e846ae 282
benswindell 0:f2b739e846ae 283 if ( i >= 64 && i < 80) {
benswindell 0:f2b739e846ae 284 mainArray[x][i] = seg1E;
benswindell 0:f2b739e846ae 285 }
benswindell 0:f2b739e846ae 286
benswindell 0:f2b739e846ae 287 if (i >= 80 && i < 96) {
benswindell 0:f2b739e846ae 288 mainArray[x][i] = seg1F;
benswindell 0:f2b739e846ae 289 }
benswindell 0:f2b739e846ae 290
benswindell 0:f2b739e846ae 291 if ( i >= 96 && i < 112) {
benswindell 0:f2b739e846ae 292 mainArray[x][i] = seg1G;
benswindell 0:f2b739e846ae 293 }
benswindell 0:f2b739e846ae 294 }// FOR LOOP
benswindell 0:f2b739e846ae 295 }
benswindell 0:f2b739e846ae 296
benswindell 0:f2b739e846ae 297 // Write to player 1 LED (ROBOT)
benswindell 0:f2b739e846ae 298 void WriteRobotGoal(bool scored)
benswindell 0:f2b739e846ae 299 {
benswindell 0:f2b739e846ae 300 if(scored == true)
benswindell 0:f2b739e846ae 301 {
benswindell 0:f2b739e846ae 302 WritePxGoal(BLUE);
benswindell 0:f2b739e846ae 303 } else {
benswindell 0:f2b739e846ae 304 WritePxGoal(PURPLE);
benswindell 0:f2b739e846ae 305 }
benswindell 0:f2b739e846ae 306 robotGoalLED.write(px.getBuf());
benswindell 0:f2b739e846ae 307 }
benswindell 0:f2b739e846ae 308
benswindell 0:f2b739e846ae 309 // Write to player 1 LED (ROBOT)
benswindell 0:f2b739e846ae 310 void WritePlayerGoal(bool scored)
benswindell 0:f2b739e846ae 311 {
benswindell 0:f2b739e846ae 312 if(scored == true)
benswindell 0:f2b739e846ae 313 {
benswindell 0:f2b739e846ae 314 WritePxGoal(BLUE);
benswindell 0:f2b739e846ae 315 } else {
benswindell 0:f2b739e846ae 316 WritePxGoal(PURPLE);
benswindell 0:f2b739e846ae 317 }
benswindell 0:f2b739e846ae 318 playerGoalLED.write(px.getBuf());
benswindell 0:f2b739e846ae 319 }
benswindell 0:f2b739e846ae 320
benswindell 0:f2b739e846ae 321 void WriteGoalsOff()
benswindell 0:f2b739e846ae 322 {
benswindell 0:f2b739e846ae 323 WritePxGoal(OFF);
benswindell 0:f2b739e846ae 324 robotGoalLED.write(px.getBuf());
benswindell 0:f2b739e846ae 325 WritePxGoal(OFF);
benswindell 0:f2b739e846ae 326 playerGoalLED.write(px.getBuf());
benswindell 0:f2b739e846ae 327 }
benswindell 0:f2b739e846ae 328
benswindell 0:f2b739e846ae 329 void WriteScores()
benswindell 0:f2b739e846ae 330 {
benswindell 0:f2b739e846ae 331 WritePxScores(playerScore);
benswindell 0:f2b739e846ae 332 playerScoreLED.write(px.getBuf());
benswindell 0:f2b739e846ae 333 wait(0.01);
benswindell 0:f2b739e846ae 334 WritePxScores(robotScore);
benswindell 0:f2b739e846ae 335 robotScoreLED.write(px.getBuf());
benswindell 0:f2b739e846ae 336 }
benswindell 0:f2b739e846ae 337
benswindell 0:f2b739e846ae 338 // Write pixel array
benswindell 0:f2b739e846ae 339 void WritePxScores(int line_num)
benswindell 0:f2b739e846ae 340 {
benswindell 0:f2b739e846ae 341 for (int i = 0; i < WS2812_BUF; i++) {
benswindell 0:f2b739e846ae 342 if (mainArray[line_num][i] == 0) {
benswindell 0:f2b739e846ae 343 px.Set(i,OFF);
benswindell 0:f2b739e846ae 344 }
benswindell 0:f2b739e846ae 345
benswindell 0:f2b739e846ae 346 if (mainArray[line_num][i] == 1) {
benswindell 0:f2b739e846ae 347 px.Set(i,LIGHTBLUE);
benswindell 0:f2b739e846ae 348 }
benswindell 0:f2b739e846ae 349 }
benswindell 0:f2b739e846ae 350 }
benswindell 0:f2b739e846ae 351
benswindell 0:f2b739e846ae 352 void WritePxGoal(unsigned int colour)
benswindell 0:f2b739e846ae 353 {
benswindell 0:f2b739e846ae 354 for (int i = 0; i < WS2812_BUF; i++) {
benswindell 0:f2b739e846ae 355 px.Set(i,colour);
benswindell 0:f2b739e846ae 356 }
benswindell 0:f2b739e846ae 357 }
benswindell 0:f2b739e846ae 358
benswindell 0:f2b739e846ae 359 void HandleGoal(bool hasRobotScored)
benswindell 0:f2b739e846ae 360 {
benswindell 0:f2b739e846ae 361 if(hasRobotScored == true) {
benswindell 0:f2b739e846ae 362 robotScore++;
benswindell 0:f2b739e846ae 363 WriteRobotGoal(true);
benswindell 0:f2b739e846ae 364 wait(0.01);
benswindell 0:f2b739e846ae 365 WritePlayerGoal(false);
benswindell 0:f2b739e846ae 366 wait(0.01);
benswindell 0:f2b739e846ae 367 WriteScores();
benswindell 0:f2b739e846ae 368 } else {
benswindell 0:f2b739e846ae 369 playerScore++;
benswindell 0:f2b739e846ae 370 WriteRobotGoal(false);
benswindell 0:f2b739e846ae 371 wait(0.01);
benswindell 0:f2b739e846ae 372 WritePlayerGoal(true);
benswindell 0:f2b739e846ae 373 wait(0.01);
benswindell 0:f2b739e846ae 374 WriteScores();
benswindell 0:f2b739e846ae 375 }
benswindell 0:f2b739e846ae 376
benswindell 0:f2b739e846ae 377 wait(5);
benswindell 0:f2b739e846ae 378 WriteGoalsOff();
benswindell 0:f2b739e846ae 379 }
benswindell 0:f2b739e846ae 380
benswindell 0:f2b739e846ae 381 int main()
benswindell 0:f2b739e846ae 382 {
benswindell 0:f2b739e846ae 383 while(1) {
benswindell 0:f2b739e846ae 384 double rbbValue = robotBreakBeam; // Read Robot Break beam
benswindell 0:f2b739e846ae 385 double pbbValue = playerBreakBeam; // Read Player Break beam
benswindell 0:f2b739e846ae 386
benswindell 0:f2b739e846ae 387 // IF PLAYER HAS SCORED A GOAL
benswindell 0:f2b739e846ae 388 if ((prevRbbValue - rbbValue)>0.01) {
benswindell 0:f2b739e846ae 389 pc.printf("Player has scored a goal \n\r");
benswindell 0:f2b739e846ae 390 HandleGoal(false);
benswindell 0:f2b739e846ae 391 }
benswindell 0:f2b739e846ae 392
benswindell 0:f2b739e846ae 393 // IF ROBOT HAS SCORED A GOAL
benswindell 0:f2b739e846ae 394 if ((prevPbbValue - pbbValue) > 0.01) {
benswindell 0:f2b739e846ae 395 pc.printf("Robot has scored a goal \n\r");
benswindell 0:f2b739e846ae 396 HandleGoal(true);
benswindell 0:f2b739e846ae 397 }
benswindell 0:f2b739e846ae 398
benswindell 0:f2b739e846ae 399 prevRbbValue = rbbValue;
benswindell 0:f2b739e846ae 400 prevPbbValue = pbbValue;
benswindell 0:f2b739e846ae 401
benswindell 0:f2b739e846ae 402 pc.printf("PlayerGoal: %f, RobotGoal: %f",pbbValue,rbbValue);
benswindell 0:f2b739e846ae 403 pc.printf("Player: %i v %i : Robot",playerScore,robotScore);
benswindell 0:f2b739e846ae 404 wait(0.01);
benswindell 0:f2b739e846ae 405
benswindell 0:f2b739e846ae 406 }
benswindell 0:f2b739e846ae 407 }