Andriy Makukha
/
football_project_wo_output
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Fork of
football_project
by 
MZJ
Diff: proto_code.cpp
- Revision:
- 46:28c29ef61276
- Parent:
- 45:1eb335c00cb2
- Child:
- 47:c66d2995f957
--- a/proto_code.cpp Sat Jan 09 21:46:34 2016 +0000
+++ b/proto_code.cpp Mon Jan 11 16:34:46 2016 +0000
@@ -10,7 +10,6 @@
#define ENABLE_3 p8
#define DEBUG_BAUD 57600 //57600
-#define MAX_LEN 24 // buffer input commands up to this length
#define NUM_CONES 3
#define STATIONS 20 // max length of a pattern
#define SEQUENCES 9 // number of patterns to store
@@ -18,10 +17,10 @@
#define TRILAT_CONE 99
#define DEBOUNCE_MS 100
-#define LIGHTS TOUCHLIGHTS
-#define FAKEOUT 0x08
-#define FAIL_QUICK 0x10
-#define SILENT 0x20
+#define LIGHTS TOUCHLIGHTS
+#define FAKEOUT 0x08
+#define FAIL_QUICK 0x10
+#define SILENT 0x20
#define GRACE_PERIOD 3000
#define NEED_CONSOLE_OUTPUT 1 /* Set this if you need //////////////////////DEBUG messages on the console;
@@ -182,7 +181,7 @@
static void slave_setup()
{
ta.initialize(NODE_ID);
- ta.beep(250);
+/// ta.beep(250);
}
#endif
@@ -206,6 +205,8 @@
static State_t last_state = IDLE;
static int counter = 0;
+ ta.spin();
+
if(last_state != state)
{
if(state == ACTIVE_TARGET)
@@ -217,11 +218,8 @@
if(state == SUCCESS)
writeToPhone("State is SUCCESS\r\n");
}
-
last_state = state;
- ta.resetTouchIfStuck();
-
char message = 'n';
timer = millis() - start;
@@ -255,17 +253,15 @@
if(message == 'x')
{
- //a3 = 0;
- wait_ms(100);
- //a3 = 1;
+ ta.resetTouch();
}
if(message == 'f')
{ // Fail
//serial.printf("Fail!\n");
writeToPhone("FAIL\r\n");
- ta.post_color(fail_colour);
- //ta.pulse(25,200,3000,0xFF0000);
+/// ta.post_color(fail_colour);
+ ta.pulse(25,200,3000,fail_colour);
state = FAIL;
}
@@ -282,8 +278,8 @@
start = millis();
warning = false;
penalty = false;
- ta.post_color(active_colour);
- //ta.pulse(50,750,0L,0x00FF00);
+/// ta.post_color(active_colour);
+ ta.pulse(50,750,~0L,active_colour);
state = ACTIVE_TARGET;
//serial.printf("fakeout, fail_quick\n");
//serial.printf("%d",fakeout);
@@ -329,7 +325,7 @@
m->command = 'd';
m->cone = CONTROL_CONE;
ta.send(m);
- ta.post_color(success_colour);
+/// ta.post_color(success_colour);
ta.pulse_off();
state = IDLE;
//serial.printf("Done!\n");
@@ -339,16 +335,16 @@
writeToPhone("PEN\r\n");
//serial.printf("Penalty!\n");
penalty = true;
- //ta.pulse(350,600,~0L,0xFF00FF);
- ta.post_color(pen_colour);
+ ta.pulse(350,600,~0L,pen_colour);
+/// ta.post_color(pen_colour);
}
else if(timer > ((timeout*3)/4) && !warning)
{
writeToPhone("WARN\r\n");
//serial.printf("Warning!\n");
warning = true;
- //ta.pulse(350,750,~0L,0xFFFF00);
- ta.post_color(warn_colour);
+ ta.pulse(350,750,~0L,warn_colour);
+/// ta.post_color(warn_colour);
}
break;
case IDLE:
@@ -408,7 +404,7 @@
mask = 0x07;
ta.setMask(mask & LIGHTS);
- //timeout = ~0;
+ timeout = ~0;
return;
}
@@ -566,16 +562,16 @@
warning = false;
penalty = false;
- ta.post_color(active_colour);
- //ta.pulse(50,750,~0L,0x00FF00);
- //if(!(mask & SILENT))ta.pulse(50,750,~0L,0c00FF00);
+/// ta.post_color(active_colour);
+ ta.pulse(50,750,~0L,active_colour);
+ //if(!(mask & SILENT))ta.pulse(50,750,~0L,active_colour);
}
if(timer >= timeout)
{
if(!penalty)
{
- ta.post_color(pen_colour);
- //ta.pulse(50,325,~0L,0xFF00FF);
+/// ta.post_color(pen_colour);
+ ta.pulse(50,325,~0L,pen_colour);
penalty = true;
}
@@ -584,8 +580,8 @@
else if(timer > ((timeout*3)/4) && !warning)
{
warning = true;
- ta.post_color(warn_colour);
- //ta.pulse(50,750,~0L,0xFFFF00);
+/// ta.post_color(warn_colour);
+ ta.pulse(50,750,~0L,warn_colour);
}
if(ta.activated() || ((timer >= timeout) && fakeout))
@@ -621,8 +617,8 @@
DEBUG("\n");
DEBUG("Timeout\n");
//ta.post_color();
- //ta.pulse(25,200,3000,0xFF0000);
- ta.post_color(fail_colour);
+ ta.pulse(25,200,3000,fail_colour);
+/// ta.post_color(fail_colour);
failCones();
//ta.fail();
@@ -668,9 +664,10 @@
int buffer_counter = 0;
static char parameter = '_';
static char buffer[MAX_LEN + 1];
+ static char trashArea[MAX_LEN + 1];
int value = 0;
char *endp = NULL;
-
+
// listen for commands coming over bluetooth
while (buffer_counter < size)
{
@@ -845,15 +842,15 @@
case 'B': // After setting bits, echo back station data.
l = (uint8_t)value;
masks[station-1] = l;
- writeToPhone( "%c%02d;C%02d;T%05d;B%02x\r\n", (1==station) ? 'P' : 'S',
+ writeToPhone( "%c%02u;C%02u;T%05u;B%02x\r\n", (1==station) ? 'P' : 'S',
(1==station) ? active_sequence +1 : station,
cones[station-1], times[station-1], l );
break;
case 'q':
state_p = IDLE_P;
new_state = true; // force state reporting, even if we're already in IDLE
- //ta.pulse_off();
- //clearCones();
+ ta.pulse_off(); /// //
+ clearCones(); /// //
break;
case 'r':
//Serial.println(F(""));
@@ -861,12 +858,12 @@
writeToPhone("Pattern is %d:\r\n", active_sequence+1); // PROTOCOL optimization
for(int i=0; i<STATIONS; i++){
// writeToPhone("Station %d: cone %d, ", i+1, cones[i]);
- writeToPhone("S%02d,C%02d", i+1, cones[i]); // PROTOCOL optimization
+ writeToPhone("S%02u,C%02u", i+1, cones[i]); // PROTOCOL optimization
split = times[i];
// printMsAsSeconds(split); // Removed for PROTOCOL optimization
//Serial.print(F("s timeout, lights: "));
// writeToPhone("s timeout, config bits: ");
- writeToPhone(",T%05d", split); // PROTOCOL optimization
+ writeToPhone(",T%05u", split); // PROTOCOL optimization
l = masks[i];
/*
if(l<0b10000000)
@@ -928,9 +925,7 @@
break;
case 'x':
resetSensors();
- //digitalWrite(A3, LOW);
- //delay(100);
- //digitalWrite(A3, HIGH);
+ ta.resetTouch();
break;
case 'z':