Diff: main.cpp

Revision:

3:88de581de68d

Parent:

2:7e5d670ed9aa

Child:

4:5bf4d3c6ec3b

--- a/main.cpp	Thu Aug 01 14:40:15 2019 +0000
+++ b/main.cpp	Fri Aug 02 14:50:14 2019 +0000
@@ -6,8 +6,8 @@
 float range = 0.0005;
 float degrees = 45.0;
 
-void together();
-void apart(int side);
+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
 
 int main() {     
     printf("Hello bats!\n");
@@ -15,74 +15,95 @@
     printf("entering loop\n"); 
     while(1) {        
         printf("entering together() call\n");
-        together();
-        wait(5);
-        apart(0);
-        wait(2);
-        apart(1);
-        wait(2);
+        
+        //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);
     }
     
 }
-
-void together()
+void bothForwardOrBack(int direction)
 {
+    float minServo, maxServo;
+    if (direction == 1)
+    {
+        minServo = NUM_SERVOS/2;
+        maxServo = NUM_SERVOS;
+    }
+    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)
     {
-        for(j = 0; j<NUM_SERVOS; j++)
+        for(j = minServo; j<maxServo; j++)
         {
             servo[j] = i;
         }
-        wait(0.01);
+        wait(0.005);
     }
-    wait(1);
+    wait(0.25);
     for(i = max; i>min; i-=incr)
     {
-        for(j = 0; j<NUM_SERVOS; j++)
+        for(j = minServo; j<maxServo; j++)
         {
             servo[j] = i;
         }
-        wait(0.01);
+        wait(0.005);
     }
-    wait(1);
-    printf("finished one of together\n");
+    wait(0.25);
+    printf("finished one run of bothForwardOrBack\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)
+void oneSideForwardOrBack(int direction, int side)
 {
+    //direction: one is forwards two is backwards
+    int whichServo = 0;
+    if(direction == 2)
+    {
+        whichServo = whichServo + NUM_SERVOS/2;
+    }      
+    if(side == 1)
+    {
+        whichServo = whichServo + 1;
+    }
+    
+    float max = 1.0, min = 0.0, incr = 0.01;
     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++)
-        {
-            if(j%2 == side)
-            {
-                servo[j] = i;
-            }
-          
-                
-        }
-        wait(0.01);
+        servo[whichServo] = i;
+        wait(0.005);
     }
-    wait(1);
+    wait(0.25);
     for(i = max; i>min; i-=incr)
     {
-        for(j = 0; j<NUM_SERVOS; j++)
-        {
-            if(j%2 == side)
-            {
-                servo[j] = i;
-            }
-        }
-        wait(0.01);
+        servo[whichServo] = i;
+        wait(0.005);
     }
-    wait(1);
-    printf("finished one of together\n");
+    wait(0.25);
+    printf("finished one run of oneSideForwardOrBack\n");
 }
\ No newline at end of file