Diff: wag.cpp

Revision:

72:aec869655869

Parent:

71:6ced854bebb2

Child:

73:e8f7ee59d3e5

--- a/wag.cpp	Mon Apr 23 20:16:41 2018 +0000
+++ b/wag.cpp	Mon Apr 23 21:21:29 2018 +0000
@@ -2,8 +2,8 @@
 * EECS 397
 *
 * Assignment Name: Lab 7: WaG
-* 
-* Authors: Sam Morrison and Phong Nguyen 
+*
+* Authors: Sam Morrison and Phong Nguyen
 * File name: wag.cpp
 * Purpose: Wag functions
 *
@@ -28,14 +28,15 @@
 int led_values[8] = {1, 2, 4, 8, 16, 32, 64, 128};
 
 
-void gnoll(int sensor_no, float * sensor_values) {
+void gnoll(int sensor_no, float * sensor_values)
+{
     int hit, miss = 0;
     int a_num;
     int led_command;
     int msec;
 
     int whacker_no = 0;
-    
+
     if (sensor_no == 0)
         whacker_no = 8;
 
@@ -47,49 +48,54 @@
         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
+        wait(LASER_DELAY);
         
         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
+            pc.printf("led_command: %d\n", led_command);
             spi_send(as1107, led_command); // light up LED
-        }
-        else {
+            pc.printf("done sent");
+            // NOTE: must put a wait() here or else the led won't light up
+        } 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);
         }
-        
+
         clock_t start = clock();
         pc.printf("Waiting for whacker...\n");
-        
+
         do {
             ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2); // scan all sensors
             clock_t difference = clock() - start;
             msec = difference * 1000 / CLOCKS_PER_SEC;
             //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] * 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
         }
-        
+
         else {
             for (int j = 0 + whacker_no; j < 8 + whacker_no; j++) { // go through all whacker sensors
                 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 
+                    ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2); // scan all sensors
                     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
                 }
             }
             pc.printf("Miss\n");
-            miss++; // increment miss count 
+            miss++; // increment miss count
         }
+        lzr_off();
+        spi_send(as1107, 0x0500);
         update_score(hit, miss);
     }
 }
@@ -98,39 +104,40 @@
  * void whack(int sensor_no, float * sensor_values)
  * Description: function for whacker
  *
- * Inputs: 
+ * Inputs:
  *      Parameters:
- *          int sensor_no: the 
+ *          int sensor_no: the
  *          float * sensor_values: an float array that stores 16 sensor values
  *      Globals:
- *      
+ *
  * Outputs:
  *      Returns: void
 */
-void whack(int sensor_no, float * sensor_values) {
+void whack(int sensor_no, float * sensor_values)
+{
     bool sensor_registered = false;
     int gnoll_sensor_indicator = 0;   // the order of sensor that gnoller's laser points to
     int whack_sensor_indicator = 0;   // the order of sensor that whacker's laser points to
     int gnoll_no = 0;
     int led_command = 0;              // led command to display the indicator LED in whacker
-    
+
     if (sensor_no == 0) gnoll_no = 8;
     if (sensor_no == 8) gnoll_no = 0;
-    
+
     // start timer for sensor reading
     t.start();
-    
+
     // keep reading until one of the sensor get laser pointed in
     while (!sensor_registered) {
         // scan all 16 sensors into sensor_values array
         ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2);
-                    
-        // scan all gnoll sensors 
+
+        // scan all gnoll sensors
         for (int i = 0; i < TGT_SENSOR_QUAN; i++) {
             // detect which gnoll sensor get lasered on
             if (sensor_values[i + gnoll_no] * 3.3f > PTTHRESH)
                 sensor_registered = true;
-                gnoll_sensor_indicator = i;
+            gnoll_sensor_indicator = i;
         }
 
         // if (reading sensor timer expired) display error and freeze
@@ -138,30 +145,30 @@
         if (t.read() > WHACK_EXPIRED_TIMER) {
             pc.printf("Error: Reading timer expired. See whack() function.\n");
             while (1);
-        } 
+        }
     }
 
     // point whack’s laser to the corresponding sensor on whack target array
     turn_to_target(stp_sensor_pos[sensor_no]);
-    
+
     // turn on whacker's laser
     lzr_on();
-    
+
     // scan all 16 sensors into sensor_values array
     ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2);
-    
-    t.start(); 
+
+    t.start();
     sensor_registered = false;
-    
+
     while (!sensor_registered) {
-        // scan all whack sensors 
+        // scan all whack sensors
         for (int i = 0; i < TGT_SENSOR_QUAN; i++) {
             // detect which gnoll sensor get lasered on
             if (sensor_values[i + sensor_no] * 3.3f > PTTHRESH)
                 sensor_registered = true;
-                whack_sensor_indicator = i;
+            whack_sensor_indicator = i;
         }
-        
+
         // if timer expire display error and freeze
         t.stop();
         if (t.read() > WHACK_EXPIRED_TIMER) {
@@ -179,12 +186,13 @@
         // scan all 16 sensors into sensor_values array
         ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2);
     } while (sensor_values[gnoll_sensor_indicator + gnoll_no] * 3.3f > PTTHRESH);
-    
+
     // turn off laer gnoll
     lzr_off();
 }
 
-void update_score(int hit, int miss) {
+void update_score(int hit, int miss)
+{
     int d1, d2, d3, d4 = 0;
     if ( hit < 10)
         d1 = hit;