Diff: main.cpp

Revision:

2:7e5d670ed9aa

Parent:

1:829cbbaeaf32

Child:

3:88de581de68d

--- a/main.cpp	Wed Jul 31 19:33:40 2019 +0000
+++ b/main.cpp	Thu Aug 01 14:40:15 2019 +0000
@@ -6,9 +6,8 @@
 float range = 0.0005;
 float degrees = 45.0;
 
-
-
 void together();
+void apart(int side);
 
 int main() {     
     printf("Hello bats!\n");
@@ -17,26 +16,31 @@
     while(1) {        
         printf("entering together() call\n");
         together();
-        //wait(10);
-        //apart1(servoPtr);
+        wait(5);
+        apart(0);
+        wait(2);
+        apart(1);
+        wait(2);
     }
     
 }
 
-
-
-
-
-
-
-
-
 void together()
 {
     float i; 
     int j;
+    float max = 1.0, min = 0.0, incr = 0.01;
     
-    for(i = 0.0; i<1.00; i+=0.01)
+    for(i = min; i<max; i+=incr)
+    {
+        for(j = 0; j<NUM_SERVOS; j++)
+        {
+            servo[j] = i;
+        }
+        wait(0.01);
+    }
+    wait(1);
+    for(i = max; i>min; i-=incr)
     {
         for(j = 0; j<NUM_SERVOS; j++)
         {
@@ -44,44 +48,41 @@
         }
         wait(0.01);
     }
-    wait(5);
-    for(i = 1.0; i>0.00; i-=0.01)
+    wait(1);
+    printf("finished one of together\n");
+}
+
+//only moves two of the servo motors, which 2 depends on the parameter side: runs 1 and 3 when side = 1, runs 2 and 4 when side = 0   
+void apart (int side)
+{
+    float i;
+    int j;
+    float max = 1.0, min = 0.0, incr = 0.01;
+    for(i = min; i<max; i+=incr)
     {
         for(j = 0; j<NUM_SERVOS; j++)
         {
-            servo[j] = i;
-        }
-        wait(0.01);
-    }
-    printf("finished one of together\n");
-}
-    
-/*void apart1 (Servo * servoPtr)
-{
-    int i,j;
-    for(i = 0.0; i<1.00; i+=0.01)
-    {
-        for(j = 0; j<numServos; j++)
-        {
-            if(j%1 == 0)
+            if(j%2 == side)
             {
-                servoPtr[j] = i;
+                servo[j] = i;
             }
           
                 
         }
         wait(0.01);
     }
-    wait(5);
-    for(i = 1.0; i>0.00; i-=0.01)
+    wait(1);
+    for(i = max; i>min; i-=incr)
     {
-        if(j%1 == 0)
+        for(j = 0; j<NUM_SERVOS; j++)
         {
-            servoPtr[j] = i;
+            if(j%2 == side)
+            {
+                servo[j] = i;
+            }
         }
-     
         wait(0.01);
     }
+    wait(1);
     printf("finished one of together\n");
-}
-*/
\ No newline at end of file
+}
\ No newline at end of file