Revision 1:7cdb9114f511, committed 2016-03-21

Comitter:

joankangro

Date:

Mon Mar 21 15:54:27 2016 +0000

Parent:

0:60a314903fb0

Commit message:

21.03

Changed in this revision

--- a/main.cpp	Sun Mar 20 15:33:07 2016 +0000
+++ b/main.cpp	Mon Mar 21 15:54:27 2016 +0000
@@ -87,7 +87,7 @@
 DigitalOut solenoid(PTA2);
 
 //Ball dispensing
-PwmOut dispenser(PTA4);
+DigitalOut dispenser(PTA4);
 
 //Ball Counter
 DigitalOut constant7(PTC16);
@@ -125,7 +125,7 @@
 
 float k = 0;
 
-bool go_slower=false;
+bool go_slower=true;
 bool stop=false;
 
 void sound()
@@ -143,6 +143,22 @@
 }
 
 
+void debugger()
+{
+    //speaker.period(1.0/500.0); // 500hz period
+    //speaker =0.5; //50% duty cycle - max volume
+
+    for (k=400; k<435; k=k+7) {
+        speaker.period(1.0/float(k));
+        speaker=0.5;
+        wait(.1);
+    }
+
+    speaker=0;
+}
+
+
+
 void display()
 {
 
@@ -187,17 +203,33 @@
     }
 }
 
+int loops=0;
+
+void generatepwm(){
+    loops=0;
+    while(loops<2000){
+        dispenser=1;
+        wait_us(244);    
+        dispenser=0; 
+        wait_us(244); 
+        loops++;
+    }  
+}
+
+bool balldrop=false;
+
 void count()
 {
-    wait_ms(0.55); //this time has to be optimised to stop false positives
-    if(ball_trigger==0) {
-        ballcount++;
-        indicator = 0;
-        wait (0.25);
-        indicator = 1;
-        display();
-
-    }
+    if(balldrop==true){
+        wait_ms(0.55); //this time has to be optimised to stop false positives
+        if(ball_trigger==0) {
+            ballcount++;
+            indicator = 0;
+            wait (0.25);
+            indicator = 1;
+            display();
+        }      
+    } 
 }
 
 int balls=0;
@@ -236,9 +268,11 @@
 
     if(midbar==1 and back==1 and front==0){ //or (midbar==1 and front==1)) {
         //shoot balls
+        ballcount=5;
+        display();
         ENA=0;
         ENB=0;
-        motors=0.095;
+        motors=0.09;
         stop=false;
         if (ballcount>0){
         while(ballcount>0){
@@ -253,7 +287,7 @@
             stop=true;
         }
         }
-        
+        go_slower=false;   
         motors=0;
         ENA=0.35;
         ENB=0.35;
@@ -261,15 +295,16 @@
             wait(2);   
         }       
         return bar==1;
-    } else if(front==1 and midbar==0 and back==1) { //test barcode
-        ENA=0;
-        ENB=0;
+    } else if(front==1 and midbar==0 and back==1) { //test barcode   
+        balldrop=true;     
         ballcount=0;
         display();
+        ENA=0;
+        ENB=0;
         while(ballcount<5){
-            dispenser=0.5;
-            wait(1);
+            generatepwm();
             dispenser=0;
+            wait(1);           
         }        
         ENA=0.35;
         ENB=0.35;
@@ -356,10 +391,6 @@
     wait(0.3);
     indicator=0;// because its a pile of shite
 
-    //define pwn freq for dispenser
-    dispenser.period(1/2048);
-
-
     dispenser=0;
 
     ENA.period(0.001);
@@ -392,6 +423,7 @@
         //sine_interrupt.detach();
 
         bar = 0;
+        balldrop=false;
         //counter=counter+1;
         //zonecounter=zonecounter+1;
 
@@ -409,16 +441,16 @@
 
             if(middle>0.4) {
                 ledmiddle=1;
-                ENA=0.45;
+                ENA=0.46;
                 ENB=0.45;
             } else {
                 ledmiddle=0;
-                ENA=0.4;
+                ENA=0.41;
                 ENB=0.4;
             }
             
             if(go_slower==true){
-                ENA=0.38;
+                ENA=0.39;
                 ENB=0.38;       
             }
 
@@ -459,12 +491,7 @@
             if((left>0.4 or leftmost>0.4)and(right>0.4 or rightmost>0.4)) {
                 ENB=0.38;
                 ENA=0;
-                wait(2);
-                if(go_slower==false){
-                    go_slower=true;  
-                }else{
-                    go_slower=false;      
-                }                
+                wait(2);             
             }