Diff: main.cpp

Revision:

5:a8f6ac485b5d

Parent:

4:48f440b9a787

Child:

6:9dc165a89453

--- a/main.cpp	Wed Mar 16 06:52:07 2016 +0000
+++ b/main.cpp	Wed Mar 16 07:24:04 2016 +0000
@@ -59,11 +59,11 @@
 DigitalOut led(LED1), led2(LED2);
 AnalogIn ain(p15);
 uLCD_4DGL uLCD(p28,p27,p29); // serial tx, serial rx, reset pin;
-float note[18]= {1568.0,1396.9,1244.5};
-float duration[18]= {0.48,0.24,0.72};
+float note[18]= {3520,  3135.96,    2637.02,    2093,   2349.32,    3951.07,    2793.83,    4186.01,    3520,   3135.96,    2637.02,    2093,   2349.32,    3951.07,    2793.83,    4186.01};
+float duration[18]= {0.1,   0.1,    0.1,    0.1,    0.1,    0.1,    0.1,    0.1,    0.1,    0.1,    0.1,    0.1,    0.1,    0.1,    0.1,    0.1};
 
 int main() {
-    uLCD.printf("\nI must find Ben Kenobi!\n"); //Default Green on black text
+    uLCD.printf("\n I am on an\n important\n mission!"); //Default Green on black text
     
     //Input and output limits have been determined
     //empirically with the specific motors being used.
@@ -88,11 +88,12 @@
     int distance     = 0; //Number of pulses to travel.
     led=0;
     led2=0;
+    uLCD.baudrate(3000000);
 
     wait(1); //Wait a few seconds before we start moving.
     uLCD.cls();
     uLCD.locate(1,2);
-    uLCD.printf("I go straight!");
+    uLCD.printf("I must find\n Ben Kenobi!");
 
     //Velocity to mantain in pulses per second.
     leftPid.setSetPoint(1000);
@@ -117,10 +118,17 @@
             leftMotor.stop(0.5);
             rightMotor.stop(0.5);
             led2=1;
+            uLCD.cls();
             uLCD.locate(1,2);
-            uLCD.printf("Ben Kenobi is not here!");
+            //uLCD.printf("He is not here!");
             mySpeaker.PlaySong(note,duration);
+            uLCD.filled_circle(64, 64, 63, RED);
+            wait(0.2);
+            uLCD.filled_circle(64, 64, 63, 0x0000FF);
             wait(0.5);
+            uLCD.filled_circle(64, 64, 63, RED);
+            wait(0.3);
+            //wait(0.5);
             leftPid.setSetPoint(-500);
             rightPid.setSetPoint(500);
             
@@ -138,11 +146,11 @@
             }//Turning while end
             leftMotor.stop(0.5);
             rightMotor.stop(0.5);          
-            wait(0.5);
+            wait(0.1);
             led2=0;
             uLCD.cls();
             uLCD.locate(1,2);
-            uLCD.printf("I go straight!");
+            uLCD.printf("I must find\n Ben Kenobi!");
             
             leftPid.setSetPoint(1000);
             rightPid.setSetPoint(1000);