Diff: wag.cpp

Revision:

65:b8f3339b9268

Parent:

63:8fcb1cc55e18

Parent:

64:72f7f5757f0d

Child:

66:70efa618c378

--- a/wag.cpp	Tue Apr 17 16:15:21 2018 +0000
+++ b/wag.cpp	Thu Apr 19 00:14:15 2018 +0000
@@ -15,23 +15,30 @@
 #include "mbed.h"
 #include "io_pins.h"
 #include "wag.h"
+#include "spi.h"
 #include <stdlib.h>
 #include <stdio.h>
 #include <string.h>
-#include <timer.h>
 
 extern Timer t;
+extern spi_cfg as1107;
+extern int stp_sensor_pos[TGT_SENSOR_QUAN];
+
 int led_values[8] = {1, 2, 4, 8, 16, 32, 64, 128};
 
+
 void gnoll(int sensor_no, float sensor_values[]) {
     int hit, miss = 0;
     int a_num;
     int led_command;
+
     int whacker_no = 0;
     
     if (sensor_no == 0)
         whacker_no = 8;
 
+    int sensor_no = 0; //change to match station
+
     for (int i = 0; i < 15; i++) {
         pc.printf("Round %d\n", i + 1);
         a_num = rand() % 8; // create random number 0-7
@@ -83,15 +90,28 @@
     }
 }
 
+/*
+ * void whack(int sensor_no, float * sensor_values)
+ * Description: function for whacker
+ *
+ * Inputs: 
+ *      Parameters:
+ *          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) {
     bool sensor_registered = false;
     int gnoll_sensor_indicator = 0;   // the order of sensor that gnoller's laser points to
-    int whack_sensor_indicaotr = 0;   // the order of sensor that whacker'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) whack_no = 8;
-    if (sensor_no == 8) whack_no = 0;
+    if (sensor_no == 0) gnoll_no = 8;
+    if (sensor_no == 8) gnoll_no = 0;
     
     // start timer for sensor reading
     t.start();
@@ -104,7 +124,7 @@
         // 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] > THRESHOLD_SIGNAL)
+            if (sensor_values[i + gnoll_no] * 3.3f > PTTHRESH)
                 sensor_registered = true;
                 gnoll_sensor_indicator = i;
         }
@@ -133,7 +153,7 @@
         // 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] > THRESHOLD_SIGNAL)
+            if (sensor_values[i + sensor_no] * 3.3f > PTTHRESH)
                 sensor_registered = true;
                 whack_sensor_indicator = i;
         }
@@ -147,14 +167,14 @@
     }
 
     // activate corresponding indicator in whack LED row
-    led_command = 0x0500 + led_values[whack_sensor_indicator]);
+    led_command = 0x0500 + led_values[whack_sensor_indicator];
     spi_send(as1107, led_command);
 
     // waiting for gnoll laser to turn off to turn off
     do {
         // 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] > PT_THRESHOLD);
+    } while (sensor_values[gnoll_sensor_indicator + gnoll_no] * 3.3f > PTTHRESH);
     
     // turn off laer gnoll
     lzr_off();