NerfUS / Mbed 2 deprecated NerfUSTarget

NerfUS mobile node that manages a target for the Nerf gun firing range

Dependencies:   LedController mbed-rtos mbed NerfUSXbee Servomotor TargetManager

Fork of NerfUS by NerfUS

source/Target.cpp@22:d9df16225df3, 2017-03-11 (annotated)

Committer:
Maxime Dupuis
Date:
Sat Mar 11 12:59:26 2017 -0500
Revision:
22:d9df16225df3
Parent:
20:05e2c4941285
Child:
23:fb47bceb61da
Fix ally command and enemy command



Both commands turn on their respective LED's and raise the servomotor

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Maxime Dupuis 18:353fb432c03c 1 #include "Target.hpp"
Maxime Dupuis 18:353fb432c03c 2
Maxime Dupuis 18:353fb432c03c 3
Maxime Dupuis 22:d9df16225df3 4 Target::Target(ServomotorInterface& servomotor,
Maxime Dupuis 22:d9df16225df3 5 LedControllerInterface& ally_leds,
Maxime Dupuis 22:d9df16225df3 6 LedControllerInterface& enemy_leds,
Maxime Dupuis 22:d9df16225df3 7 XbeeTransmitterInterface& xbee_transmitter):
Maxime Dupuis 18:353fb432c03c 8 servomotor(servomotor),
Maxime Dupuis 22:d9df16225df3 9 ally_leds(ally_leds),
Maxime Dupuis 22:d9df16225df3 10 enemy_leds(enemy_leds),
Maxime Dupuis 19:377887760869 11 xbee_transmitter(xbee_transmitter)
Maxime Dupuis 18:353fb432c03c 12 {
Maxime Dupuis 18:353fb432c03c 13 }
Maxime Dupuis 18:353fb432c03c 14
Maxime Dupuis 18:353fb432c03c 15 void Target::execute_command(Mode mode, int timeout_ms)
Maxime Dupuis 18:353fb432c03c 16 {
Maxime Dupuis 18:353fb432c03c 17 if(mode == Ally)
Maxime Dupuis 18:353fb432c03c 18 {
Maxime Dupuis 18:353fb432c03c 19 ally_command();
Maxime Dupuis 18:353fb432c03c 20 }
Maxime Dupuis 18:353fb432c03c 21 else
Maxime Dupuis 18:353fb432c03c 22 {
Maxime Dupuis 18:353fb432c03c 23 enemy_command();
Maxime Dupuis 18:353fb432c03c 24 }
Maxime Dupuis 18:353fb432c03c 25 }
Maxime Dupuis 18:353fb432c03c 26
Maxime Dupuis 18:353fb432c03c 27
Maxime Dupuis 18:353fb432c03c 28 void Target::ally_command()
Maxime Dupuis 18:353fb432c03c 29 {
Maxime Dupuis 18:353fb432c03c 30 servomotor.set_position_up();
Maxime Dupuis 22:d9df16225df3 31 ally_leds.turn_on();
Maxime Dupuis 18:353fb432c03c 32 }
Maxime Dupuis 18:353fb432c03c 33
Maxime Dupuis 18:353fb432c03c 34 void Target::enemy_command()
Maxime Dupuis 18:353fb432c03c 35 {
Maxime Dupuis 18:353fb432c03c 36 servomotor.set_position_up();
Maxime Dupuis 22:d9df16225df3 37 enemy_leds.turn_on();
Maxime Dupuis 18:353fb432c03c 38 }
Maxime Dupuis 18:353fb432c03c 39
Maxime Dupuis 20:05e2c4941285 40 std::vector<uint8_t> Target::generate_message(uint8_t target_number, Result result, uint16_t time_taken_ms) const
Maxime Dupuis 19:377887760869 41 {
Maxime Dupuis 19:377887760869 42 const uint8_t target_number_and_result = (target_number << 3) + result;
Maxime Dupuis 20:05e2c4941285 43 const uint8_t time_taken_msb = time_taken_ms >> 8;
Maxime Dupuis 20:05e2c4941285 44 const uint8_t time_taken_lsb = (time_taken_ms << 8) >> 8;
Maxime Dupuis 19:377887760869 45
Maxime Dupuis 19:377887760869 46 std::vector<uint8_t> message;
Maxime Dupuis 19:377887760869 47
Maxime Dupuis 19:377887760869 48 message.push_back(target_number_and_result);
Maxime Dupuis 20:05e2c4941285 49 message.push_back(time_taken_msb);
Maxime Dupuis 20:05e2c4941285 50 message.push_back(time_taken_lsb);
Maxime Dupuis 19:377887760869 51
Maxime Dupuis 19:377887760869 52 return message;
Maxime Dupuis 19:377887760869 53 }