Diff: wag.cpp

Revision:

69:1b7271bd4a75

Parent:

68:9245d6ce176e

Child:

71:6ced854bebb2

--- a/wag.cpp	Thu Apr 19 15:49:06 2018 +0000
+++ b/wag.cpp	Mon Apr 23 19:52:06 2018 +0000
@@ -42,17 +42,19 @@
     for (int i = 0; i < 15; i++) {
         pc.printf("Round %d\n", i + 1);
         a_num = rand() % 8; // create random number 0-7
+        pc.printf("Random number: %d. Stepper position: %d.", a_num, stp_sensor_pos[a_num]);
         turn_to_target(stp_sensor_pos[a_num]); // turn motor to random target
         lzr_on(); // turn laser on
         wait(LASER_DELAY); // wait for laser to activate
         
         ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2); // scan all sensors
         
-        if (sensor_values[sensor_no + a_num] > PTTHRESH) { // confirm that the sensor is high
+        if (sensor_values[sensor_no + a_num] * 3.3 > PTTHRESH) { // confirm that the sensor is high
             led_command = 0x0500 + led_values[a_num]; // create SPI command for LED
             spi_send(as1107, led_command); // light up LED
         }
         else {
+            pc.printf("sensor value: %f\n" ,sensor_values[sensor_no + a_num] * 3.3);
             pc.printf("Error: sensor not activated. Shutting down.\n");
             while(1);
         }
@@ -64,22 +66,23 @@
             ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2); // scan all sensors
             clock_t difference = clock() - start;
             msec = difference * 1000 / CLOCKS_PER_SEC;
-        } while (msec < VOLLEY_DELAY or sensor_values[whacker_no + a_num] < PTTHRESH); // check if timer expired or if sensor hit
+            //pc.printf("Time elapsed: %d. Time limit: %d\n", msec, VOLLEY_DELAY);
+        } while (msec < VOLLEY_DELAY and sensor_values[whacker_no + a_num] < PTTHRESH); // check if timer expired or if sensor hit
         
-        if (sensor_values[whacker_no + a_num] > PTTHRESH) {
+        if (sensor_values[whacker_no + a_num] * 3.3 > PTTHRESH) {
             hit++; // increment hit count
             pc.printf("Hit\n");
-            while(sensor_values[whacker_no + a_num] > PTTHRESH)
+            while(sensor_values[whacker_no + a_num] * 3.3 > PTTHRESH)
                 ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2); // waits for whacker laser to turn off
         }
         
         else {
             for (int j = 0 + whacker_no; j < 8 + whacker_no; j++) { // go through all whacker sensors
-                if (sensor_values[i + whacker_no] > PTTHRESH and j != a_num) { // check if wrong sensor hit
+                if (sensor_values[i + whacker_no] * 3.3 > PTTHRESH and j != a_num) { // check if wrong sensor hit
                     pc.printf("Wrong sensor hit.\n");
                     i = 15; // ends volley
                     ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2); // scan all sensors 
-                    while(sensor_values[i + whacker_no] > PTTHRESH)
+                    while(sensor_values[i + whacker_no] * 3.3 > PTTHRESH)
                         ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2); // waits for whacker laser to turn off
                 }
             }