Revision 4:8fc64106ea7e, committed 2016-03-17

Comitter:

joankangro

Date:

Thu Mar 17 16:59:25 2016 +0000

Parent:

3:027ba4e5e19d

Child:

5:f27f68d0993f

Commit message:

the newest

Changed in this revision

--- a/main.cpp	Thu Mar 17 15:39:44 2016 +0000
+++ b/main.cpp	Thu Mar 17 16:59:25 2016 +0000
@@ -203,8 +203,8 @@
 {
     
     if(front==1 or midbar==1 or back==1){
-        ENA=0.25;
-        ENB=0.25;
+        ENA=0.28;
+        ENB=0.28;
         }
     if(front==1) {
         ledfront=1;
@@ -230,25 +230,25 @@
         ledback=0;
     }
 
-    if(midbar==1 and back==1) {
+    if((midbar==1 and back==1) or (midbar==1 and front==1)) {
         //shoot balls
-        if(ballcount>0){
-            ballcount--;   
-        }       
         ENA=0;
         ENB=0;
         motors=0.095;
-        sound();
-        wait_ms(550);
-        solenoid=1;
-        display();
-        wait_ms(45);
-        solenoid=0;
-        wait(3);
+        while(ballcount>0){
+            ballcount--;                   
+            sound();
+            wait_ms(550);
+            solenoid=1;
+            display();
+            wait_ms(45);
+            solenoid=0;
+            wait(1);
+        }
         motors=0;
         ENA=0.35;
         ENB=0.35;
-        wait(3);
+        wait(2);
         return bar==1;
     } else if(midbar==0 and back==1) { //test barcode
         ENA=0;
@@ -261,17 +261,17 @@
         wait(1);
         motors=0;
         wait(3);*/
-        if (ballcount<5){
-        dispenser=0.5;
-        wait(1);
-        dispenser=0;
+        while(ballcount<5){
+            dispenser=0.5;
+            wait(1);
+            dispenser=0;
         }
-        else if (ballcount==5){
+        
         ENA=0.35;
         ENB=0.35;
-        wait(3);
+        wait(2);
         return bar==1;
-        }
+       
         
  
     }
@@ -350,7 +350,7 @@
     wait(0.3);
     indicator=1;
     wait(0.3);
-    indicator=0;
+    indicator=0;// because its a pile of shite
 
     //define pwn freq for dispenser
     dispenser.period(1/2048);
@@ -381,9 +381,6 @@
 
     ball_trigger.fall(&count);
     //sine_interrupt.attach(&create_sine , interrupt_f);
-    
-    //true = left ; false = right
-    bool direction=true;
 
     while(1) {
 
@@ -401,38 +398,31 @@
             ledright=0;
             ledleftmost=0;
             ledrightmost=0;
-            
-            if(direction==true){
-                ENA=0;
-            }else{
-                ENB=0;     
-            }
+
             
         } else {
 
 
             if(middle>0.4) {
                 ledmiddle=1;
-                ENA=0.55;
-                ENB=0.55;
+                ENA=0.45;
+                ENB=0.45;
             } else {
                 ledmiddle=0;
-                ENA=0.45;
-                ENB=0.45;
+                ENA=0.4;
+                ENB=0.4;
             }
 
             if(left>0.4) {
                 ledleft=1;
-                ENA=0.25;
-                direction=true;
+                ENA=0.32;
             } else {
                 ledleft=0;
             }
 
             if(right>0.4) {
                 ledright=1;
-                ENB=0.25;
-                direction=false;
+                ENB=0.3;
             } else {
                 ledright=0;
             }
@@ -441,8 +431,7 @@
 
             if(leftmost>0.4) {
                 ledleftmost=1;
-                ENA=0.15;
-                direction=true;
+                ENA=0;
             } else {
                 ledleftmost=0;
             }
@@ -451,8 +440,7 @@
 
             if(rightmost>0.4) {
                 ledrightmost=1;
-                ENB=0.15;
-                direction=false;
+                ENB=0;
             } else {
                 ledrightmost=0;
             }
@@ -463,7 +451,6 @@
                 ENB=0.38;
                 ENA=0;
                 wait(2);
-                direction=true;
             }