Diff: main.cpp

Revision:

4:5bf4d3c6ec3b

Parent:

3:88de581de68d

Child:

5:90f7d451910e

--- a/main.cpp	Fri Aug 02 14:50:14 2019 +0000
+++ b/main.cpp	Tue Aug 06 15:50:39 2019 +0000
@@ -6,83 +6,85 @@
 float range = 0.0005;
 float degrees = 45.0;
 
-void bothForwardOrBack(int direction); //1 is forward, 2 is backwards
-void oneSideForwardOrBack(int direction, int side);//1 is forward 2 is back, 1 is left 0 is right
-
+void bothForwardOrBack(float min, float max, int direction, int startVEnd); //1 is forward, 2 is backwards
+void oneSideForwardOrBack(float min, float max, int direction, int side, int startVEnd);//1 is forward 2 is back, 1 is left 0 is right
+void movementCombo(float randoNum, int forwardVBack);
 int main() {     
-    printf("Hello bats!\n");
-    
-    printf("entering loop\n"); 
     while(1) {        
-        printf("entering together() call\n");
-        
-        //move both ears forward
-        bothForwardOrBack(1);
-        wait(1);
-        //move both ears backward
-        bothForwardOrBack(2);
-        wait(1);
-        
-        //LEFT EAR
-        //move left ear back 
-        oneSideForwardOrBack(1,1);
-        wait(1);
-        //move left ear forward
-        oneSideForwardOrBack(2,1);
-        wait(1);
-        
-        //RIGHT EAR
-        //move right ear back
-        oneSideForwardOrBack(1,0);
-        wait(1);
-        //move right ear forward
-        oneSideForwardOrBack(2,0);
-        wait(1);
+        int rando = rand();
+       // float randoNum = rando/32767;
+        float randoNum = 0.56;
+        movementCombo(randoNum, 1);
+        wait(3);
+        movementCombo(randoNum, 2);
+        wait(3);      
     }
     
 }
-void bothForwardOrBack(int direction)
+void bothForwardOrBack(float min, float max, int direction, int startVEnd)
 {
+    //1 is forward 2 is backwards
     float minServo, maxServo;
     if (direction == 1)
     {
         minServo = NUM_SERVOS/2;
         maxServo = NUM_SERVOS;
     }
-    if (direction == 2)
+    else if (direction == 2)
     {
         minServo = 0;
         maxServo = NUM_SERVOS/2;
     }
     float i; 
     int j;
-    float max = 1.0, min = 0.0, incr = 0.01;
-    
-    for(i = min; i<max; i+=incr)
+ 
+    float incr = 0.01;
+    if(startVEnd == 0)
     {
-        for(j = minServo; j<maxServo; j++)
+        for(i = min; i<max; i+=incr)
         {
-            servo[j] = i;
+            for(j = minServo; j<maxServo; j++)
+            {
+                servo[j] = i;
+            }
+            wait(0.005);
         }
-        wait(0.005);
     }
-    wait(0.25);
-    for(i = max; i>min; i-=incr)
+    else if(startVEnd == 1)
     {
-        for(j = minServo; j<maxServo; j++)
+        for(i = max; i>min; i-=incr)
         {
-            servo[j] = i;
+            for(j = minServo; j<maxServo; j++)
+            {
+                servo[j] = i;
+            }
+            wait(0.005);
         }
-        wait(0.005);
     }
-    wait(0.25);
     printf("finished one run of bothForwardOrBack\n");
 }
-void oneSideForwardOrBack(int direction, int side)
+void movementCombo(float randoNum, int forwardVBack)
+{
+    //forward is 1, back is 2
+    
+    bothForwardOrBack(0.0, randoNum, forwardVBack, 0); //moves both ears partway
+    wait(1);
+    oneSideForwardOrBack(randoNum, 1.0, forwardVBack, 1, 0); //moves left ear rest of way 
+    oneSideForwardOrBack(randoNum, 1.0, forwardVBack, 1, 1); //moves left ear back to position
+    
+    oneSideForwardOrBack(randoNum, 1.0, forwardVBack, 0, 0); //moves right ear rest of way 
+    oneSideForwardOrBack(randoNum, 1.0, forwardVBack, 0, 1); //moves right ear back to position
+    wait(1);
+    bothForwardOrBack(0.0, randoNum, forwardVBack, 1); //moves both ears to position 0
+    
+    wait(1);
+}
+void oneSideForwardOrBack(float min, float max, int direction, int side, int startVEnd)
 {
     //direction: one is forwards two is backwards
+    //0 is right, 1 is left
     int whichServo = 0;
-    if(direction == 2)
+    if(direction == 1)
     {
         whichServo = whichServo + NUM_SERVOS/2;
     }      
@@ -90,20 +92,25 @@
     {
         whichServo = whichServo + 1;
     }
-    
-    float max = 1.0, min = 0.0, incr = 0.01;
-    float i;
-    for(i = min; i<max; i+=incr)
+
+    float incr = 0.01, i;
+    if(startVEnd == 0)
     {
-        servo[whichServo] = i;
-        wait(0.005);
+        for(i = min; i<max; i+=incr)
+        {
+            servo[whichServo] = i;
+            wait(0.002);
+        }
+        wait(0.1);
     }
-    wait(0.25);
-    for(i = max; i>min; i-=incr)
+    else if(startVEnd == 1)
     {
-        servo[whichServo] = i;
-        wait(0.005);
+        for(i = max; i>min; i-=incr)
+        {
+            servo[whichServo] = i;
+            wait(0.002);
+        }
+        wait(0.1);
     }
-    wait(0.25);
     printf("finished one run of oneSideForwardOrBack\n");
 }
\ No newline at end of file