Revision 1:13d222b50e8e, committed 2018-05-15

Comitter:

jmckneel

Date:

Tue May 15 22:48:20 2018 +0000

Parent:

0:3845f08fcd02

Commit message:

Final industrial end node software

Changed in this revision

diff -r 3845f08fcd02 -r 13d222b50e8e main.cpp
--- a/main.cpp	Tue May 15 21:51:13 2018 +0000
+++ b/main.cpp	Tue May 15 22:48:20 2018 +0000
@@ -568,8 +568,9 @@
     printf("Initializing software parameters.\r\n");
     uint8_t c_buff[10];
     bool skittle = false;
-    int jamCount = 0;  // Stops the motor if checks and is jammed twice consecutive
-    int stirCount = 0; // When it reaches 3, the machine stirs the reservoir
+    int jamCount = 0;     // Stops the motor if checks and is jammed twice consecutive
+    int stirCount = 0;    // When it reaches 50, the machine stirs the reservoir
+    int stirredCount = 0; // When it reaches 5, the machine stops
     
     // 5.) Test the slide PWM
     slide_pwm.pulsewidth_us(1200);
@@ -633,6 +634,7 @@
                 skittle = true;
                 set_slide_servo(c_buff[0]);
                 stirCount = 0;
+                stirredCount = 0;
             }
             
             // iii.) Check the XBee buffer for parsing
@@ -648,11 +650,19 @@
                 stir();
                 stir();
                 stirCount = 0;         // Reset the stir count
+                stirredCount = stirredCount + 1;
             }
             else if(stirCount >= 50){
                 stirCount = 0;
             }
             dispense_skittles();       // Dispense any skittles
+            
+            // v.) Handle stirred
+            if (stirredCount >= 5){
+                geneva_pwm.pulsewidth_us(GENEVA_STOP);
+                set_slide_servo(5);
+                return 0;
+            }
         }
         
         // d.) Increment/full receptacle control