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Dependencies:   mbed

Fork of Lab_6_WaG by GroupA

wag.cpp@64:72f7f5757f0d, 2018-04-19 (annotated)

Committer:
phn10
Date:
Thu Apr 19 00:04:48 2018 +0000
Revision:
64:72f7f5757f0d
Parent:
61:778e7e30e370
Child:
65:b8f3339b9268
keep working on whack() function, not complied yet;

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"
spm71 57:aef01bd9b3be 18 #include <stdlib.h>
spm71 57:aef01bd9b3be 19 #include <stdio.h>
phn10 59:6b3a52d87465 20 #include <string.h>
phn10 59:6b3a52d87465 21
phn10 59:6b3a52d87465 22 extern Timer t;
phn10 59:6b3a52d87465 23
spm71 58:69f9a4607a16 24 void gnoll() {
spm71 58:69f9a4607a16 25 int hit, miss;
spm71 58:69f9a4607a16 26 int a_num;
spm71 58:69f9a4607a16 27 int led_command;
phn10 64:72f7f5757f0d 28 int sensor_no = 0; //change to match station
phn10 60:604c10531f58 29
spm71 58:69f9a4607a16 30 for (int i = 0; i < 15; i++) {
spm71 58:69f9a4607a16 31 a_num = rand() % 8;
spm71 58:69f9a4607a16 32 turn_to_target(stp_sensor_pos[a_num]);
spm71 58:69f9a4607a16 33 lzr_on();
spm71 58:69f9a4607a16 34 wait(LASER_DELAY);
spm71 58:69f9a4607a16 35 if (sensor_values[sensor_no + a_num] > PTHRESH) {
spm71 58:69f9a4607a16 36 led_command = 0x0500 + a_num;
spm71 58:69f9a4607a16 37 spi_send(as1107, led_command);
phn10 60:604c10531f58 38
spm71 58:69f9a4607a16 39 }
spm71 58:69f9a4607a16 40
spm71 58:69f9a4607a16 41 clock_t start = clock();
spm71 58:69f9a4607a16 42 clock_t finish = clock();
phn10 60:604c10531f58 43
spm71 58:69f9a4607a16 44 do {
spm71 58:69f9a4607a16 45 // check for whacker sensors
spm71 58:69f9a4607a16 46 finish = clock();
spm71 58:69f9a4607a16 47 } while (finish - start < VOLLEY_DELAY)
spm71 58:69f9a4607a16 48 }
phn10 60:604c10531f58 49 }
phn10 60:604c10531f58 50
phn10 64:72f7f5757f0d 51 /*
phn10 64:72f7f5757f0d 52 * void whack(int sensor_no, float * sensor_values)
phn10 64:72f7f5757f0d 53 * Description: function for whacker
phn10 64:72f7f5757f0d 54 *
phn10 64:72f7f5757f0d 55 * Inputs:
phn10 64:72f7f5757f0d 56 * Parameters:
phn10 64:72f7f5757f0d 57 * int sensor_no: the
phn10 64:72f7f5757f0d 58 * float * sensor_values: an float array that stores 16 sensor values
phn10 64:72f7f5757f0d 59 * Globals:
phn10 64:72f7f5757f0d 60 *
phn10 64:72f7f5757f0d 61 * Outputs:
phn10 64:72f7f5757f0d 62 * Returns: void
phn10 64:72f7f5757f0d 63 */
phn10 59:6b3a52d87465 64 void whack(int sensor_no, float * sensor_values) {
phn10 59:6b3a52d87465 65 bool sensor_registered = false;
phn10 61:778e7e30e370 66 int gnoll_sensor_indicator = 0; // the order of sensor that gnoller's laser points to
phn10 64:72f7f5757f0d 67 int whack_sensor_indicator = 0; // the order of sensor that whacker's laser points to
phn10 61:778e7e30e370 68 int gnoll_no = 0;
phn10 61:778e7e30e370 69 int led_command = 0; // led command to display the indicator LED in whacker
phn10 61:778e7e30e370 70
phn10 64:72f7f5757f0d 71 if (sensor_no == 0) gnoll_no = 8;
phn10 64:72f7f5757f0d 72 if (sensor_no == 8) gnoll_no = 0;
phn10 61:778e7e30e370 73
phn10 59:6b3a52d87465 74 // start timer for sensor reading
phn10 59:6b3a52d87465 75 t.start();
phn10 59:6b3a52d87465 76
phn10 59:6b3a52d87465 77 // keep reading until one of the sensor get laser pointed in
phn10 59:6b3a52d87465 78 while (!sensor_registered) {
phn10 61:778e7e30e370 79 // scan all 16 sensors into sensor_values array
phn10 61:778e7e30e370 80 ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2);
phn10 61:778e7e30e370 81
phn10 61:778e7e30e370 82 // scan all gnoll sensors
phn10 59:6b3a52d87465 83 for (int i = 0; i < TGT_SENSOR_QUAN; i++) {
phn10 61:778e7e30e370 84 // detect which gnoll sensor get lasered on
phn10 64:72f7f5757f0d 85 if (sensor_values[i + gnoll_no] * 3.3f > PTTHRESH)
phn10 59:6b3a52d87465 86 sensor_registered = true;
phn10 61:778e7e30e370 87 gnoll_sensor_indicator = i;
phn10 59:6b3a52d87465 88 }
phn10 59:6b3a52d87465 89
phn10 59:6b3a52d87465 90 // if (reading sensor timer expired) display error and freeze
phn10 59:6b3a52d87465 91 t.stop();
phn10 61:778e7e30e370 92 if (t.read() > WHACK_EXPIRED_TIMER) {
phn10 59:6b3a52d87465 93 pc.printf("Error: Reading timer expired. See whack() function.\n");
phn10 59:6b3a52d87465 94 while (1);
phn10 59:6b3a52d87465 95 }
phn10 59:6b3a52d87465 96 }
phn10 59:6b3a52d87465 97
phn10 61:778e7e30e370 98 // point whack’s laser to the corresponding sensor on whack target array
phn10 61:778e7e30e370 99 turn_to_target(stp_sensor_pos[sensor_no]);
phn10 61:778e7e30e370 100
phn10 61:778e7e30e370 101 // turn on whacker's laser
phn10 61:778e7e30e370 102 lzr_on();
phn10 61:778e7e30e370 103
phn10 61:778e7e30e370 104 // scan all 16 sensors into sensor_values array
phn10 61:778e7e30e370 105 ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2);
phn10 61:778e7e30e370 106
phn10 61:778e7e30e370 107 t.start();
phn10 61:778e7e30e370 108 sensor_registered = false;
phn10 59:6b3a52d87465 109
phn10 61:778e7e30e370 110 while (!sensor_registered) {
phn10 61:778e7e30e370 111 // scan all whack sensors
phn10 61:778e7e30e370 112 for (int i = 0; i < TGT_SENSOR_QUAN; i++) {
phn10 61:778e7e30e370 113 // detect which gnoll sensor get lasered on
phn10 64:72f7f5757f0d 114 if (sensor_values[i + sensor_no] * 3.3f > PTTHRESH)
phn10 61:778e7e30e370 115 sensor_registered = true;
phn10 61:778e7e30e370 116 whack_sensor_indicator = i;
phn10 61:778e7e30e370 117 }
phn10 61:778e7e30e370 118
phn10 61:778e7e30e370 119 // if timer expire display error and freeze
phn10 61:778e7e30e370 120 t.stop();
phn10 61:778e7e30e370 121 if (t.read() > WHACK_EXPIRED_TIMER) {
phn10 61:778e7e30e370 122 pc.printf("Error: Reading timer expired. See whack() function.\n");
phn10 61:778e7e30e370 123 while(1);
phn10 61:778e7e30e370 124 }
phn10 59:6b3a52d87465 125 }
phn10 59:6b3a52d87465 126
phn10 61:778e7e30e370 127 // activate corresponding indicator in whack LED row
phn10 61:778e7e30e370 128 led_command = 0x0500 + led_values[whack_sensor_indicator]);
phn10 61:778e7e30e370 129 spi_send(as1107, led_command);
phn10 59:6b3a52d87465 130
phn10 59:6b3a52d87465 131 // waiting for gnoll laser to turn off to turn off
phn10 61:778e7e30e370 132 do {
phn10 61:778e7e30e370 133 // scan all 16 sensors into sensor_values array
phn10 61:778e7e30e370 134 ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2);
phn10 64:72f7f5757f0d 135 } while (sensor_values[gnoll_sensor_indicator + gnoll_no] * 3.3f > PTTHRESH);
phn10 61:778e7e30e370 136
phn10 59:6b3a52d87465 137 // turn off laer gnoll
phn10 59:6b3a52d87465 138 lzr_off();
phn10 59:6b3a52d87465 139 }