Diff: wag.cpp

Revision:

78:84ce90a76594

Parent:

76:7514ca07b45d

--- a/wag.cpp	Thu Apr 26 16:12:09 2018 +0000
+++ b/wag.cpp	Fri Apr 27 20:14:21 2018 +0000
@@ -73,6 +73,7 @@
             //pc.printf("led_command: %d\n", led_command);
             spi_send(as1107, led_command); // light up LED
             //pc.printf("done sent\n");
+            pc.printf("led_command: %d\n", led_command);
             wait(LED_DELAY);
             // NOTE: must put a wait() here or else the led won't light up
         } 
@@ -99,8 +100,8 @@
         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] * 3.3 > PTTHRESH)
-                ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2); // waits for whacker laser to turn off
+            //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 {
@@ -185,9 +186,10 @@
                 while (1);
             }
         }
-    
+        
+        pc.printf("stp_sensor_pos: %d\n", stp_sensor_pos[sensor_no + gnoll_sensor_indicator]);
         // point whack’s laser to the corresponding sensor on whack target array
-        turn_to_target(stp_sensor_pos[gnoll_no + gnoll_sensor_indicator ]);
+        turn_to_target(stp_sensor_pos[sensor_no + gnoll_sensor_indicator]);
     
         // turn on whacker's laser
         lzr_on();
@@ -205,7 +207,7 @@
                 if (sensor_values[i + sensor_no] * 3.3f > PTTHRESH) {
                     sensor_registered = true;
                     whack_sensor_indicator = i;
-                    pc.printf("gnoll_sensor_indicator: %d\n", gnoll_sensor_indicator);
+                    pc.printf("whack_sensor_indicator: %d\n", whack_sensor_indicator);
                 }
             }
     
@@ -220,7 +222,9 @@
     
         // activate corresponding indicator in whack LED row
         led_command = 0x0500 + led_values[whack_sensor_indicator];
+        pc.printf("led_command: %d\n", led_command);
         spi_send(as1107, led_command);
+        wait(LED_DELAY);
     
         // waiting for gnoll laser to turn off to turn off
         do {