Diff: main.cpp

Revision:

5:90f7d451910e

Parent:

4:5bf4d3c6ec3b

--- a/main.cpp	Tue Aug 06 15:50:39 2019 +0000
+++ b/main.cpp	Wed Aug 14 13:28:50 2019 +0000
@@ -3,21 +3,52 @@
 
 #define NUM_SERVOS 4
 Servo servo[NUM_SERVOS]={p24,p23,p22,p21};
-float range = 0.0005;
-float degrees = 45.0;
 
 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() {     
-    while(1) {        
-        int rando = rand();
-       // float randoNum = rando/32767;
-        float randoNum = 0.56;
-        movementCombo(randoNum, 1);
-        wait(3);
-        movementCombo(randoNum, 2);
-        wait(3);      
+void movementCombo(float firstDisplace, float secondDisplace, int forwardVBack, int whichSideFirst);//1 is left, zero is right
+
+Timer t;
+float interval1 = 10;
+float alreadyPast = 0;
+int main() {  
+    t.start();   
+    float previousSeconds = 0;
+    while(1) {   
+        float currentSeconds = t.read();
+        
+        float disp1 = 0.5;
+        float disp2 = disp1 + 0.5;
+        //THIS PART OF THE FUNCTION RUNS BASED ON A TIME LOOP
+        if(currentSeconds-previousSeconds>interval1)
+        {
+            previousSeconds = currentSeconds;
+            disp2 = disp1 + 0.2;
+            movementCombo(disp1, disp2, 1, 1);
+            wait(0.5);
+            movementCombo(disp1, disp2, 2, 1);
+            wait(1);
+            
+            disp1 = 0.9;
+            disp2 = 1.0;
+            movementCombo(disp1, disp2, 1, 0);
+            wait(0.5);
+            movementCombo(disp1, disp2, 2, 1);
+            wait(1);   
+            
+            disp1 = 0.1;
+            disp2 = disp1 + 0.5;
+            movementCombo(disp1, disp2, 1, 0);
+            wait(0.5);
+            movementCombo(disp1, disp2, 2, 0);
+            wait(1);   
+        }
+        
+        //THIS PART OF THE FUNCTION CONSTANTLY RUNS
+        movementCombo(disp1, disp2, 1, 1);
+        wait(0.5);
+        movementCombo(disp1, disp2, 2, 1);  
+        wait(1);
     }
     
 }
@@ -63,19 +94,29 @@
     }
     printf("finished one run of bothForwardOrBack\n");
 }
-void movementCombo(float randoNum, int forwardVBack)
+void movementCombo(float firstDisplace, float secondDisplace, int forwardVBack, int whichSideFirst)
 {
     //forward is 1, back is 2
+    //1 is left first, 0 is right first
     
-    bothForwardOrBack(0.0, randoNum, forwardVBack, 0); //moves both ears partway
+    bothForwardOrBack(0.0, firstDisplace, 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
+    if(whichSideFirst == 1)
+    {
+        oneSideForwardOrBack(firstDisplace, secondDisplace, forwardVBack, 1, 0); //moves left ear rest of way 
+        oneSideForwardOrBack(firstDisplace, secondDisplace, forwardVBack, 1, 1); //moves left ear back to position
+        oneSideForwardOrBack(firstDisplace, secondDisplace, forwardVBack, 0, 0); //moves right ear rest of way 
+        oneSideForwardOrBack(firstDisplace, secondDisplace, forwardVBack, 0, 1); //moves right ear back to position
+    }
+    else
+    {
+        oneSideForwardOrBack(firstDisplace, secondDisplace, forwardVBack, 0, 0); //moves right ear rest of way 
+        oneSideForwardOrBack(firstDisplace, secondDisplace, forwardVBack, 0, 1); //moves right ear back to position
+        oneSideForwardOrBack(firstDisplace, secondDisplace, forwardVBack, 1, 0); //moves left ear rest of way 
+        oneSideForwardOrBack(firstDisplace, secondDisplace, forwardVBack, 1, 1); //moves left ear back to position
+    }
     wait(1);
-    bothForwardOrBack(0.0, randoNum, forwardVBack, 1); //moves both ears to position 0
+    bothForwardOrBack(0.0, firstDisplace, forwardVBack, 1); //moves both ears to position 0
     
     wait(1);
 }