File content as of revision 68:9245d6ce176e:

/******************************************************************************
* EECS 397
*
* Assignment Name: Lab 7: WaG
* 
* Authors: Sam Morrison and Phong Nguyen 
* File name: wag.cpp
* Purpose: Wag functions
*
* Created: 04/12/2018
* Last Modified: 04/12/2018
*
******************************************************************************/

#include "mbed.h"
#include "io_pins.h"
#include "wag.h"
#include "spi.h"
#include <stdlib.h>
#include <stdio.h>
#include <string.h>

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 msec;

    int whacker_no = 0;
    
    if (sensor_no == 0)
        whacker_no = 8;


    for (int i = 0; i < 15; i++) {
        pc.printf("Round %d\n", i + 1);
        a_num = rand() % 8; // create random number 0-7
        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
            led_command = 0x0500 + led_values[a_num]; // create SPI command for LED
            spi_send(as1107, led_command); // light up LED
        }
        else {
            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;
        } while (msec < VOLLEY_DELAY or sensor_values[whacker_no + a_num] < PTTHRESH); // check if timer expired or if sensor hit
        
        if (sensor_values[whacker_no + a_num] > PTTHRESH) {
            hit++; // increment hit count
            pc.printf("Hit\n");
            while(sensor_values[whacker_no + a_num] > 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
                    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)
                        ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2); // waits for whacker laser to turn off
                }
            }
            pc.printf("Miss\n");
            miss++; // increment miss count 
        }
        update_score(hit, miss);
    }
}

/*
 * 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_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 
        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;
        }

        // if (reading sensor timer expired) display error and freeze
        t.stop();
        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(); 
    sensor_registered = false;
    
    while (!sensor_registered) {
        // 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;
        }
        
        // if timer expire display error and freeze
        t.stop();
        if (t.read() > WHACK_EXPIRED_TIMER) {
            pc.printf("Error: Reading timer expired. See whack() function.\n");
            while(1);
        }
    }

    // activate corresponding indicator in whack LED row
    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] * 3.3f > PTTHRESH);
    
    // turn off laer gnoll
    lzr_off();
}

void update_score(int hit, int miss) {
    int d1, d2, d3, d4 = 0;
    if ( hit < 10)
        d1 = hit;
    else {
        d1 = hit % 10;
        d2 = (hit - d1)/10;
    }
    if ( miss < 10)
        d3 = miss;
    else {
        d3 = miss % 10;
        d4 = (miss - d3)/10;
    }
    spi_send(as1107, 0x0100 + d1);
    spi_send(as1107, 0x0200 + d2);
    spi_send(as1107, 0x0300 + d3);
    spi_send(as1107, 0x0400 + d4);
}