Diff: main.cpp

Revision:

57:eea0d7265b22

Parent:

56:1ac2487a9610

--- a/main.cpp	Thu Oct 29 13:48:53 2015 +0000
+++ b/main.cpp	Thu Oct 29 16:30:51 2015 +0000
@@ -34,7 +34,7 @@
 int maxCounts = 0;                          // max richt motor counts Aim motor
 int breakPerc = 0;                          // Break part {0, 1 , 2 ,3}/4 of half revolution
 volatile int modeL = 1, modeR = 1;          // modes left and right
-const double servoBreak = 0.0017, servoFree = 0.0020;    // Range servo,between servoL en servoR  (= pulsewidth pwm servo) 
+const double servoBreak = 0.00165, servoFree = 0.0020;    // Range servo,between servoL en servoR  (= pulsewidth pwm servo) 
 const double tControl = 0.01, tLcd = 2,  tEmg = 0.005;     // ticker time (sec)
 const double wM2 = 0.31;
 double thresholdlowL= 0, thresholdmidL = 0, thresholdhighL= 0;
@@ -140,18 +140,18 @@
     controlFlag = true;
     }
 void checkSide(AnalogIn& ks, int dir){
-     if((dirM2.read() == dir) && (pwmM2.read()>0)){        // direction motor clashes with killswitch and motor is on  
-        if(ks.read()>0.95){
-            pwmM2.write(0);                                // Aim motor freeze            
-            PRINT("BOEM! CRASH!");                         // LCD
-            pc.printf("BOEM! CRASH! KASTUK!\r\n");         // Terminal
-            wait(1);                                       
-            }
+    if((ks.read()>0.95) && (dirM2.read() == dir)){
+        pwmM2.write(0);                                // Aim motor freeze            
+        PRINT("BOEM! CRASH!");                         // LCD
+        pc.printf("BOEM! CRASH! KASTUK!\r\n");         // Terminal
+        wait(1);                                       
         } 
      }     
 void checkAim(){            // check if killswitch clashes with direction motor                  
-    checkSide(ksLeft, 1);
-    checkSide(ksRight, 0);
+    if(pwmM2.read()>0){        // direction motor clashes with killswitch and motor is on    
+        checkSide(ksLeft, 1);
+        checkSide(ksRight, 0);
+        }
     }
 void motorAim(int dir){            // Rotate Aim motor with given direction
     dirM2.write(dir);              
@@ -181,7 +181,7 @@
     else if((modeR == 2)) {                             // modeR ==2
         if(aimState != CCW){                            
             aimState = CCW;                             // Rotate CCW
-            pc.printf("Rotate -, CCW\r\n");
+            pc.printf("Rotate -, CW\r\n");
             PRINT("Rotate CW");
             motorAim(0);            
             }
@@ -189,7 +189,7 @@
     else if((modeL == 2)) {                             // modeL == 2
         if(aimState != CW){
             aimState = CW;                              // Rotate CW
-            pc.printf("Rotate +, CW\r\n");
+            pc.printf("Rotate +, CCW\r\n");
             PRINT("Rotate CCW");
             motorAim(1);
             }
@@ -216,7 +216,7 @@
     pc.printf("---NEW GAME---\r\n");                          
     PRINT("--- NEW GAME ---");                          // LCD
     
-    if(potL.read() > 0.3 || potR.read() > 0.3){
+    if(potL.read() > 0.3 || potR.read() > 0.3){         // check if one of potmeters is on
         pc.printf("Potentialmeter is on!!!\r\n");
         }
     
@@ -300,6 +300,7 @@
                 lcd.cls();
                 break;
                 }
+        // Game stages: 
             case AIM: {                  
                 pc.printf("Aim with EMG\r\n");              // terminal                   
                 int i = 0;                                  // counter for lcd
@@ -382,7 +383,7 @@
                         if(lcdFlag){                                // every 2 seconds update lcd
                             lcdFlag = false;
                             lcd.cls();
-                            lcd.printf("Break scale 0 - 4: %i", breakPerc);
+                            lcd.printf("Break scale 0 - 3: %i", breakPerc);
                             }                    
                         }
                     }