Diff: nervousPuppy.cpp

Revision:

6:f854aa2f41e2

Parent:

5:cbb5d7460309

Child:

7:8b2cf5e6e888

--- a/nervousPuppy.cpp	Mon Jan 19 13:31:42 2015 +0000
+++ b/nervousPuppy.cpp	Mon Jan 26 14:50:41 2015 +0000
@@ -6,116 +6,39 @@
  
 Servo tilt(p21);
 Servo rotate(p22);      
-AnalogIn ain(p20);
+AnalogIn ainLeft(p15);
+AnalogIn ainRight(p16);
 
-C12832 lcd(p5, p7, p6, p8, p11);
+C12832 lcd(p5, p7, 
+p6, p8, p11);
 
 
 nervousPuppy::nervousPuppy(){
-    bool isRunning = true;
-    while(isRunning){
-        playerDistance = 254*ain.read();
+    rotation = 0;
+    while(1){
+
+        float x = ainRight.read();
+        float y = ainLeft.read();
         
+
         lcd.cls();
-        if(shutdown()){//TurnOff
-            //isRunning = !isRunning; 
-        } else if(isScared()){//MoveBack
-            scared = true;
-            playerError = playerDistance - SCARED;
-            lcd.printf(" TOO CLOSE");
-            wait(2.0);
-            
-
-            scared = false;
-        } else if(isLonely()){// MoveForward
-            lonely = true;
-            playerError = playerDistance - LONELY;
-            lcd.printf(" TOO FAR");
-            wait(2.0);
-            
-            
-            lonely = false;
+        lcd.locate(0,3);
+        lcd.printf("x = %f",x);
+        lcd.printf(" y = %f",y);
+        
+        
+        if(x > 0.10 && y < 0.10){
+            lcd.printf("rotating by 2");
+            rotate.calibrate(0.0005,2);
+        }else if(y > 0.10 && x < 0.10){
+            lcd.printf("rotating by -2");
+            rotate.calibrate(0.0005,-2);
         }
+        wait(0.2);
     }
 }
 
-/**
- * Calculates the angle required to bring the 'puppy' to a 'safe distance'
- * Returns 0 if it cannot find a 'safe distance'
- */
-float nervousPuppy::calculateAngle(string issue){
-    if(issue == "Too Close"){
-        for(float theta = 0.0; theta < 45; theta++){
-            float c = RADIUS*Cos(theta);
-            float y = RADIUS*Sin(theta);
-            float b = RADIUS - c;
-           
-            float x = sqrt(pow(y,2) + pow((playerDistance+b),2));
-            if(x > SCARED){
-               return theta;
-            }
-        }
-    }
-    if(issue == "Too Far"){
-        for(float theta = 0.0; theta < 45; theta++){
-            float c = RADIUS*Cos(theta);
-            float y = RADIUS*Sin(theta);
-            float b = RADIUS - c;
-            float e = playerDistance - b;
-            
-            float a = sqrt(pow(e,2) + pow(y,2));
-            if(a < LONELY){
-                return theta;   
-            }
-        }
-    }
-    return 0.0;    
-}
 
-/**
- * Move 'puppy' to the calculated 'safe' point
- */
-void nervousPuppy::changePosition(string servo,float angle){
-    if(servo == "tilt"){
-        tilt.position(angle);
-    } else if(servo == "rotate"){
-        rotate.position(angle);
-    }
-}
-/**
- * Thread -> Running sonar to detect player
- */
-void nervousPuppy::detectPlayer(){
-    
-}
-
-/** check if we shutdown **/
-bool nervousPuppy::shutdown(){
-    if(playerDistance < SHUTDOWN)return true;
-    else return false;   
-}
-
-/** check if player is to far away **/
-bool nervousPuppy::isLonely(){
-    if(playerDistance > LONELY)return true;
-    else return false;    
-}
-
-/** check if player is to close **/
-bool nervousPuppy::isScared(){
-    if(playerDistance < SCARED)return true;
-    else return false;
-}
-
-/** get player distance value **/
-float nervousPuppy::getPlayerDistance(){
-    return playerDistance;
-}
-
-/** set player distance value **/
-void nervousPuppy::setPlayerDistance(float dist){
-    playerDistance = dist;
-}
 
 int main(){
     nervousPuppy();