Revision 78:84ce90a76594, committed 2018-04-27

Comitter:

spm71

Date:

Fri Apr 27 20:14:21 2018 +0000

Parent:

77:73e1cf3a7284

Commit message:

Finished

Changed in this revision

--- a/analog.h	Thu Apr 26 16:12:09 2018 +0000
+++ b/analog.h	Fri Apr 27 20:14:21 2018 +0000
@@ -18,7 +18,7 @@
 #include "io_pins.h"
 
 #define MUX_CHANS 16
-#define PTTHRESH 1.3 /// previously 2.0
+#define PTTHRESH 0.7 /// previously 2.0
 
 void ana_init();
 void ana_scan_mux(float * an_array, int no_of_channels);

--- a/stepper.cpp	Thu Apr 26 16:12:09 2018 +0000
+++ b/stepper.cpp	Fri Apr 27 20:14:21 2018 +0000
@@ -99,7 +99,7 @@
             index++;
         wait(MOTOR_DELAY);
         spi_send(drv8806, turn[index]);
-        wait(TURN_DELAY);
+        //wait(TURN_DELAY);
     } else if (direction == STP_CCW) {
 
         if (stp_cur_pos != 0) {
@@ -117,7 +117,7 @@
             index--;
         wait(MOTOR_DELAY);
         spi_send(drv8806, turn[index]);
-        wait(TURN_DELAY);
+        //wait(TURN_DELAY);
     }
     wait(MOTOR_DELAY);
 }

--- a/stepper.h	Thu Apr 26 16:12:09 2018 +0000
+++ b/stepper.h	Fri Apr 27 20:14:21 2018 +0000
@@ -23,7 +23,7 @@
 #define STP_CCW 1
 #define STP_POS_UNKN -5
 #define TGT_SENSOR_QUAN 8
-#define MOTOR_DELAY 0.002
+#define MOTOR_DELAY 0.003
 #define TURN_DELAY 0.005
 
 

--- 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 {

--- a/wag.h	Thu Apr 26 16:12:09 2018 +0000
+++ b/wag.h	Fri Apr 27 20:14:21 2018 +0000
@@ -35,7 +35,7 @@
 #define NOT_CALIBRATED 0
 
 //delay times
-#define VOLLEY_DELAY 3000
+#define VOLLEY_DELAY 1000
 #define LASER_DELAY 0.125
 #define LED_DELAY 0.02