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Dependencies:   mbed

Fork of Lab_6_WaG by GroupA

wag.cpp@60:604c10531f58, 2018-04-17 (annotated)

Committer:
phn10
Date:
Tue Apr 17 12:47:32 2018 +0000
Revision:
60:604c10531f58
Parent:
58:69f9a4607a16
Parent:
59:6b3a52d87465
Child:
61:778e7e30e370
Child:
62:b73067127fd6
merge

Who changed what in which revision?

UserRevisionLine numberNew contents of line
spm71 57:aef01bd9b3be 1 /******************************************************************************
spm71 57:aef01bd9b3be 2 * EECS 397
spm71 57:aef01bd9b3be 3 *
spm71 57:aef01bd9b3be 4 * Assignment Name: Lab 7: WaG
spm71 57:aef01bd9b3be 5 *
spm71 57:aef01bd9b3be 6 * Authors: Sam Morrison and Phong Nguyen
spm71 57:aef01bd9b3be 7 * File name: wag.cpp
spm71 57:aef01bd9b3be 8 * Purpose: Wag functions
spm71 57:aef01bd9b3be 9 *
spm71 57:aef01bd9b3be 10 * Created: 04/12/2018
spm71 57:aef01bd9b3be 11 * Last Modified: 04/12/2018
spm71 57:aef01bd9b3be 12 *
spm71 57:aef01bd9b3be 13 ******************************************************************************/
spm71 57:aef01bd9b3be 14
spm71 57:aef01bd9b3be 15 #include "mbed.h"
spm71 57:aef01bd9b3be 16 #include "io_pins.h"
spm71 57:aef01bd9b3be 17 #include "wag.h"
spm71 57:aef01bd9b3be 18 #include <stdlib.h>
spm71 57:aef01bd9b3be 19 #include <stdio.h>
phn10 59:6b3a52d87465 20 #include <string.h>
spm71 58:69f9a4607a16 21 #include <timer.h>
phn10 59:6b3a52d87465 22
phn10 59:6b3a52d87465 23 extern Timer t;
phn10 59:6b3a52d87465 24
spm71 58:69f9a4607a16 25 void gnoll() {
spm71 58:69f9a4607a16 26 int hit, miss;
spm71 58:69f9a4607a16 27 int a_num;
spm71 58:69f9a4607a16 28 int led_command;
spm71 58:69f9a4607a16 29 int sensor_no = 0 //change to match station
phn10 60:604c10531f58 30
spm71 58:69f9a4607a16 31 for (int i = 0; i < 15; i++) {
spm71 58:69f9a4607a16 32 a_num = rand() % 8;
spm71 58:69f9a4607a16 33 turn_to_target(stp_sensor_pos[a_num]);
spm71 58:69f9a4607a16 34 lzr_on();
spm71 58:69f9a4607a16 35 wait(LASER_DELAY);
spm71 58:69f9a4607a16 36 if (sensor_values[sensor_no + a_num] > PTHRESH) {
spm71 58:69f9a4607a16 37 led_command = 0x0500 + a_num;
spm71 58:69f9a4607a16 38 spi_send(as1107, led_command);
phn10 60:604c10531f58 39
spm71 58:69f9a4607a16 40 }
spm71 58:69f9a4607a16 41
spm71 58:69f9a4607a16 42 clock_t start = clock();
spm71 58:69f9a4607a16 43 clock_t finish = clock();
phn10 60:604c10531f58 44
spm71 58:69f9a4607a16 45 do {
spm71 58:69f9a4607a16 46 // check for whacker sensors
spm71 58:69f9a4607a16 47 finish = clock();
spm71 58:69f9a4607a16 48 } while (finish - start < VOLLEY_DELAY)
spm71 58:69f9a4607a16 49 }
phn10 60:604c10531f58 50 }
phn10 60:604c10531f58 51
phn10 59:6b3a52d87465 52 void whack(int sensor_no, float * sensor_values) {
phn10 59:6b3a52d87465 53 bool sensor_registered = false;
phn10 59:6b3a52d87465 54 int sensor_no = // --> need to specify sensor_no
phn10 60:604c10531f58 55
phn10 59:6b3a52d87465 56 // start timer for sensor reading
phn10 59:6b3a52d87465 57 t.start();
phn10 59:6b3a52d87465 58
phn10 59:6b3a52d87465 59 // keep reading until one of the sensor get laser pointed in
phn10 59:6b3a52d87465 60 while (!sensor_registered) {
phn10 59:6b3a52d87465 61 // read value of all gnoll sensor
phn10 59:6b3a52d87465 62 for (int i = 0; i < TGT_SENSOR_QUAN; i++) {
phn10 59:6b3a52d87465 63 // scan all 16 sensors into sensor_values array
phn10 59:6b3a52d87465 64 ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2);
phn10 59:6b3a52d87465 65 }
phn10 60:604c10531f58 66
phn10 59:6b3a52d87465 67 // detect which sensor get lasered on
phn10 59:6b3a52d87465 68 for (int i = 0; i < TGT_SENSOR_QUAN + sensor_no; i++) {
phn10 59:6b3a52d87465 69 if (sensor_values[i] > THRESHOLD_SIGNAL)
phn10 59:6b3a52d87465 70 sensor_registered = true;
phn10 59:6b3a52d87465 71 }
phn10 59:6b3a52d87465 72
phn10 59:6b3a52d87465 73 // if (reading sensor timer expired) display error and freeze
phn10 59:6b3a52d87465 74 t.stop();
phn10 59:6b3a52d87465 75 if (t.read() > EXPIRED_TIMER) {
phn10 59:6b3a52d87465 76 pc.printf("Error: Reading timer expired. See whack() function.\n");
phn10 59:6b3a52d87465 77 while (1);
phn10 59:6b3a52d87465 78 }
phn10 59:6b3a52d87465 79 }
phn10 59:6b3a52d87465 80
phn10 59:6b3a52d87465 81 // point whack’s laser to the corresponding sensor on it’s target array
phn10 59:6b3a52d87465 82
phn10 59:6b3a52d87465 83 // activate whacker’s laser
phn10 59:6b3a52d87465 84
phn10 59:6b3a52d87465 85 while (signal from corresponding sensor value > THRESHOLD_SIGNAL) {
phn10 59:6b3a52d87465 86 if (finding sensor timer expired) display error and freeze
phn10 59:6b3a52d87465 87 }
phn10 59:6b3a52d87465 88
phn10 59:6b3a52d87465 89 activate corresponding indicator
phn10 59:6b3a52d87465 90
phn10 59:6b3a52d87465 91 // waiting for gnoll laser to turn off to turn off
phn10 59:6b3a52d87465 92 while (gnoll’s laser turned on) {}
phn10 59:6b3a52d87465 93 // turn off laer gnoll
phn10 59:6b3a52d87465 94 lzr_off();
phn10 59:6b3a52d87465 95 }