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Dependencies:   mbed

Fork of Lab_6_WaG by GroupA

wag.cpp@66:70efa618c378, 2018-04-19 (annotated)

Committer:
spm71
Date:
Thu Apr 19 15:26:19 2018 +0000
Revision:
66:70efa618c378
Parent:
65:b8f3339b9268
Child:
67:6dffd5c82eb6
Bug hunting

Who changed what in which revision?

UserRevisionLine numberNew contents of line
spm71 57:aef01bd9b3be 1 /******************************************************************************
spm71 57:aef01bd9b3be 2 * EECS 397
spm71 57:aef01bd9b3be 3 *
spm71 57:aef01bd9b3be 4 * Assignment Name: Lab 7: WaG
spm71 57:aef01bd9b3be 5 *
spm71 57:aef01bd9b3be 6 * Authors: Sam Morrison and Phong Nguyen
spm71 57:aef01bd9b3be 7 * File name: wag.cpp
spm71 57:aef01bd9b3be 8 * Purpose: Wag functions
spm71 57:aef01bd9b3be 9 *
spm71 57:aef01bd9b3be 10 * Created: 04/12/2018
spm71 57:aef01bd9b3be 11 * Last Modified: 04/12/2018
spm71 57:aef01bd9b3be 12 *
spm71 57:aef01bd9b3be 13 ******************************************************************************/
spm71 57:aef01bd9b3be 14
spm71 57:aef01bd9b3be 15 #include "mbed.h"
spm71 57:aef01bd9b3be 16 #include "io_pins.h"
spm71 57:aef01bd9b3be 17 #include "wag.h"
phn10 65:b8f3339b9268 18 #include "spi.h"
spm71 57:aef01bd9b3be 19 #include <stdlib.h>
spm71 57:aef01bd9b3be 20 #include <stdio.h>
phn10 59:6b3a52d87465 21 #include <string.h>
phn10 59:6b3a52d87465 22
phn10 59:6b3a52d87465 23 extern Timer t;
phn10 65:b8f3339b9268 24 extern spi_cfg as1107;
phn10 65:b8f3339b9268 25 extern int stp_sensor_pos[TGT_SENSOR_QUAN];
phn10 59:6b3a52d87465 26
spm71 62:b73067127fd6 27 int led_values[8] = {1, 2, 4, 8, 16, 32, 64, 128};
phn10 59:6b3a52d87465 28
phn10 65:b8f3339b9268 29
spm71 66:70efa618c378 30 void gnoll(int sensor_no, float * sensor_values) {
spm71 62:b73067127fd6 31 int hit, miss = 0;
spm71 58:69f9a4607a16 32 int a_num;
spm71 58:69f9a4607a16 33 int led_command;
phn10 65:b8f3339b9268 34
spm71 62:b73067127fd6 35 int whacker_no = 0;
spm71 62:b73067127fd6 36
spm71 62:b73067127fd6 37 if (sensor_no == 0)
spm71 62:b73067127fd6 38 whacker_no = 8;
phn10 60:604c10531f58 39
phn10 60:604c10531f58 40
spm71 58:69f9a4607a16 41 for (int i = 0; i < 15; i++) {
spm71 62:b73067127fd6 42 pc.printf("Round %d\n", i + 1);
spm71 62:b73067127fd6 43 a_num = rand() % 8; // create random number 0-7
spm71 62:b73067127fd6 44 turn_to_target(stp_sensor_pos[a_num]); // turn motor to random target
spm71 62:b73067127fd6 45 lzr_on(); // turn laser on
spm71 62:b73067127fd6 46 wait(LASER_DELAY); // wait for laser to activate
spm71 62:b73067127fd6 47
spm71 62:b73067127fd6 48 ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2); // scan all sensors
spm71 62:b73067127fd6 49
spm71 66:70efa618c378 50 if (sensor_values[sensor_no + a_num] > PTTHRESH) { // confirm that the sensor is high
spm71 62:b73067127fd6 51 led_command = 0x0500 + led_values[a_num]; // create SPI command for LED
spm71 62:b73067127fd6 52 spi_send(as1107, led_command); // light up LED
spm71 62:b73067127fd6 53 }
spm71 62:b73067127fd6 54 else {
spm71 62:b73067127fd6 55 pc.printf("Error: sensor not activated. Shutting down.\n");
spm71 62:b73067127fd6 56 while(1);
spm71 58:69f9a4607a16 57 }
spm71 58:69f9a4607a16 58
spm71 58:69f9a4607a16 59 clock_t start = clock();
spm71 58:69f9a4607a16 60 clock_t finish = clock();
spm71 62:b73067127fd6 61 pc.printf("Waiting for whacker...\n");
phn10 60:604c10531f58 62
spm71 58:69f9a4607a16 63 do {
spm71 62:b73067127fd6 64 finish = clock(); // update timer
spm71 62:b73067127fd6 65 ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2); // scan all sensors
spm71 66:70efa618c378 66 } while (finish - start < VOLLEY_DELAY or sensor_values[whacker_no + a_num] < PTTHRESH); // check if timer expired or if sensor hit
spm71 62:b73067127fd6 67
spm71 66:70efa618c378 68 if (sensor_values[whacker_no + a_num] > PTTHRESH) {
spm71 62:b73067127fd6 69 hit++; // increment hit count
spm71 62:b73067127fd6 70 pc.printf("Hit\n");
spm71 66:70efa618c378 71 while(sensor_values[whacker_no + a_num] > PTTHRESH)
spm71 62:b73067127fd6 72 ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2); // waits for whacker laser to turn off
spm71 62:b73067127fd6 73 }
spm71 62:b73067127fd6 74
spm71 62:b73067127fd6 75 else {
spm71 62:b73067127fd6 76 for (int j = 0 + whacker_no; j < 8 + whacker_no; j++) { // go through all whacker sensors
spm71 66:70efa618c378 77 if (sensor_values[i + whacker_no] > PTTHRESH and j != a_num) { // check if wrong sensor hit
spm71 62:b73067127fd6 78 pc.printf("Wrong sensor hit.\n");
spm71 62:b73067127fd6 79 i = 15; // ends volley
spm71 62:b73067127fd6 80 ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2); // scan all sensors
spm71 66:70efa618c378 81 while(sensor_values[i + whacker_no] > PTTHRESH)
spm71 62:b73067127fd6 82 ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2); // waits for whacker laser to turn off
spm71 62:b73067127fd6 83 }
spm71 62:b73067127fd6 84 }
spm71 62:b73067127fd6 85 pc.printf("Miss\n");
spm71 62:b73067127fd6 86 miss++; // increment miss count
spm71 62:b73067127fd6 87 }
spm71 62:b73067127fd6 88 update_score(hit, miss);
spm71 58:69f9a4607a16 89 }
phn10 60:604c10531f58 90 }
phn10 60:604c10531f58 91
phn10 64:72f7f5757f0d 92 /*
phn10 64:72f7f5757f0d 93 * void whack(int sensor_no, float * sensor_values)
phn10 64:72f7f5757f0d 94 * Description: function for whacker
phn10 64:72f7f5757f0d 95 *
phn10 64:72f7f5757f0d 96 * Inputs:
phn10 64:72f7f5757f0d 97 * Parameters:
phn10 64:72f7f5757f0d 98 * int sensor_no: the
phn10 64:72f7f5757f0d 99 * float * sensor_values: an float array that stores 16 sensor values
phn10 64:72f7f5757f0d 100 * Globals:
phn10 64:72f7f5757f0d 101 *
phn10 64:72f7f5757f0d 102 * Outputs:
phn10 64:72f7f5757f0d 103 * Returns: void
phn10 64:72f7f5757f0d 104 */
phn10 59:6b3a52d87465 105 void whack(int sensor_no, float * sensor_values) {
phn10 59:6b3a52d87465 106 bool sensor_registered = false;
phn10 61:778e7e30e370 107 int gnoll_sensor_indicator = 0; // the order of sensor that gnoller's laser points to
phn10 64:72f7f5757f0d 108 int whack_sensor_indicator = 0; // the order of sensor that whacker's laser points to
phn10 61:778e7e30e370 109 int gnoll_no = 0;
phn10 61:778e7e30e370 110 int led_command = 0; // led command to display the indicator LED in whacker
phn10 61:778e7e30e370 111
phn10 64:72f7f5757f0d 112 if (sensor_no == 0) gnoll_no = 8;
phn10 64:72f7f5757f0d 113 if (sensor_no == 8) gnoll_no = 0;
phn10 61:778e7e30e370 114
phn10 59:6b3a52d87465 115 // start timer for sensor reading
phn10 59:6b3a52d87465 116 t.start();
phn10 59:6b3a52d87465 117
phn10 59:6b3a52d87465 118 // keep reading until one of the sensor get laser pointed in
phn10 59:6b3a52d87465 119 while (!sensor_registered) {
phn10 61:778e7e30e370 120 // scan all 16 sensors into sensor_values array
phn10 61:778e7e30e370 121 ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2);
phn10 61:778e7e30e370 122
phn10 61:778e7e30e370 123 // scan all gnoll sensors
phn10 59:6b3a52d87465 124 for (int i = 0; i < TGT_SENSOR_QUAN; i++) {
phn10 61:778e7e30e370 125 // detect which gnoll sensor get lasered on
phn10 64:72f7f5757f0d 126 if (sensor_values[i + gnoll_no] * 3.3f > PTTHRESH)
phn10 59:6b3a52d87465 127 sensor_registered = true;
phn10 61:778e7e30e370 128 gnoll_sensor_indicator = i;
phn10 59:6b3a52d87465 129 }
phn10 59:6b3a52d87465 130
phn10 59:6b3a52d87465 131 // if (reading sensor timer expired) display error and freeze
phn10 59:6b3a52d87465 132 t.stop();
phn10 61:778e7e30e370 133 if (t.read() > WHACK_EXPIRED_TIMER) {
phn10 59:6b3a52d87465 134 pc.printf("Error: Reading timer expired. See whack() function.\n");
phn10 59:6b3a52d87465 135 while (1);
phn10 59:6b3a52d87465 136 }
phn10 59:6b3a52d87465 137 }
phn10 59:6b3a52d87465 138
phn10 61:778e7e30e370 139 // point whack’s laser to the corresponding sensor on whack target array
phn10 61:778e7e30e370 140 turn_to_target(stp_sensor_pos[sensor_no]);
phn10 61:778e7e30e370 141
phn10 61:778e7e30e370 142 // turn on whacker's laser
phn10 61:778e7e30e370 143 lzr_on();
phn10 61:778e7e30e370 144
phn10 61:778e7e30e370 145 // scan all 16 sensors into sensor_values array
phn10 61:778e7e30e370 146 ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2);
phn10 61:778e7e30e370 147
phn10 61:778e7e30e370 148 t.start();
phn10 61:778e7e30e370 149 sensor_registered = false;
phn10 59:6b3a52d87465 150
phn10 61:778e7e30e370 151 while (!sensor_registered) {
phn10 61:778e7e30e370 152 // scan all whack sensors
phn10 61:778e7e30e370 153 for (int i = 0; i < TGT_SENSOR_QUAN; i++) {
phn10 61:778e7e30e370 154 // detect which gnoll sensor get lasered on
phn10 64:72f7f5757f0d 155 if (sensor_values[i + sensor_no] * 3.3f > PTTHRESH)
phn10 61:778e7e30e370 156 sensor_registered = true;
phn10 61:778e7e30e370 157 whack_sensor_indicator = i;
phn10 61:778e7e30e370 158 }
phn10 61:778e7e30e370 159
phn10 61:778e7e30e370 160 // if timer expire display error and freeze
phn10 61:778e7e30e370 161 t.stop();
phn10 61:778e7e30e370 162 if (t.read() > WHACK_EXPIRED_TIMER) {
phn10 61:778e7e30e370 163 pc.printf("Error: Reading timer expired. See whack() function.\n");
phn10 61:778e7e30e370 164 while(1);
phn10 61:778e7e30e370 165 }
phn10 59:6b3a52d87465 166 }
phn10 59:6b3a52d87465 167
phn10 61:778e7e30e370 168 // activate corresponding indicator in whack LED row
phn10 65:b8f3339b9268 169 led_command = 0x0500 + led_values[whack_sensor_indicator];
phn10 61:778e7e30e370 170 spi_send(as1107, led_command);
phn10 59:6b3a52d87465 171
phn10 59:6b3a52d87465 172 // waiting for gnoll laser to turn off to turn off
phn10 61:778e7e30e370 173 do {
phn10 61:778e7e30e370 174 // scan all 16 sensors into sensor_values array
phn10 61:778e7e30e370 175 ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2);
phn10 64:72f7f5757f0d 176 } while (sensor_values[gnoll_sensor_indicator + gnoll_no] * 3.3f > PTTHRESH);
phn10 61:778e7e30e370 177
phn10 59:6b3a52d87465 178 // turn off laer gnoll
phn10 59:6b3a52d87465 179 lzr_off();
spm71 62:b73067127fd6 180 }
spm71 62:b73067127fd6 181
spm71 62:b73067127fd6 182 void update_score(int hit, int miss) {
spm71 62:b73067127fd6 183 int d1, d2, d3, d4 = 0;
spm71 62:b73067127fd6 184 if ( hit < 10)
spm71 62:b73067127fd6 185 d1 = hit;
spm71 62:b73067127fd6 186 else {
spm71 62:b73067127fd6 187 d1 = hit % 10;
spm71 62:b73067127fd6 188 d2 = (hit - d1)/10;
spm71 62:b73067127fd6 189 }
spm71 62:b73067127fd6 190 if ( miss < 10)
spm71 62:b73067127fd6 191 d3 = miss;
spm71 62:b73067127fd6 192 else {
spm71 62:b73067127fd6 193 d3 = miss % 10;
spm71 62:b73067127fd6 194 d4 = (miss - d3)/10;
spm71 62:b73067127fd6 195 }
spm71 62:b73067127fd6 196 spi_send(as1107, 0x0100 + d1);
spm71 62:b73067127fd6 197 spi_send(as1107, 0x0200 + d2);
spm71 62:b73067127fd6 198 spi_send(as1107, 0x0300 + d3);
spm71 62:b73067127fd6 199 spi_send(as1107, 0x0400 + d4);
phn10 59:6b3a52d87465 200 }