Evan Zhang / Mbed 2 deprecated StepperMotorSong4180

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Dependencies:   mbed mbed-rtos SDFileSystem11

main.cpp@11:f9460ac84e27, 2021-05-03 (annotated)

Committer:
aurora_aeterna
Date:
Mon May 03 18:44:18 2021 +0000
Revision:
11:f9460ac84e27
Parent:
10:a7cd50115e8e
Child:
12:04af66705f1c
attempt at fclose

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cawald18 7:dd65856c3982 1 /*
cawald18 7:dd65856c3982 2 ECE 4180 Project - Stepper motor songs
cawald18 7:dd65856c3982 3 Conner Awald and Evan Zhang
cawald18 7:dd65856c3982 4
cawald18 7:dd65856c3982 5 TO-DO: The program does not exit gracefully when reaching the end of the file.
cawald18 7:dd65856c3982 6 We should add a character that indicates the end of the file to the program.
cawald18 7:dd65856c3982 7
cawald18 7:dd65856c3982 8 Also need to add bluetooth control so the user can select a file to play from preinstalled songs
cawald18 7:dd65856c3982 9 maybe also add stop start controls?
cawald18 7:dd65856c3982 10
cawald18 7:dd65856c3982 11 */
cawald18 7:dd65856c3982 12
cawald18 0:6cc2c1f459f1 13 #include "mbed.h"
cawald18 0:6cc2c1f459f1 14 #include "rtos.h"
cawald18 1:ddbed1542633 15 #include "SDFileSystem.h"
cawald18 1:ddbed1542633 16 #include <string>
cawald18 1:ddbed1542633 17 #include <sstream>
cawald18 1:ddbed1542633 18 #include <iostream>
cawald18 1:ddbed1542633 19 #include <cstdlib>
cawald18 1:ddbed1542633 20
cawald18 0:6cc2c1f459f1 21 Thread motor;
aurora_aeterna 8:202142fffa4e 22 Thread tpause;
aurora_aeterna 8:202142fffa4e 23
cawald18 1:ddbed1542633 24 SDFileSystem sd(p5, p6, p7, p8, "sd");
aurora_aeterna 8:202142fffa4e 25 Serial blue(p13,p14);
cawald18 0:6cc2c1f459f1 26 Serial pc(USBTX, USBRX); // tx, rx
cawald18 7:dd65856c3982 27
cawald18 7:dd65856c3982 28 class Note { //I use this to create a note object which contains
cawald18 7:dd65856c3982 29 // The pitch, starting time, and duration(stop) of the note
cawald18 1:ddbed1542633 30 public:
cawald18 1:ddbed1542633 31 int midiNote;
cawald18 1:ddbed1542633 32 float start;
cawald18 1:ddbed1542633 33 float stop;
cawald18 1:ddbed1542633 34 Note(int midi, float sta, float sto) {
cawald18 1:ddbed1542633 35 start = sta;
cawald18 1:ddbed1542633 36 stop = sto;
cawald18 1:ddbed1542633 37 midiNote = midi;
cawald18 1:ddbed1542633 38 }
cawald18 1:ddbed1542633 39 };
cawald18 1:ddbed1542633 40
aurora_aeterna 8:202142fffa4e 41 volatile int pause = 0;
cawald18 0:6cc2c1f459f1 42
cawald18 7:dd65856c3982 43 DigitalOut led1(LED2); //Used simply for debugging, could add functionailty
cawald18 7:dd65856c3982 44 // So the led lights up when the corresponding motor is playing
aurora_aeterna 8:202142fffa4e 45 DigitalOut led2(LED3);
aurora_aeterna 8:202142fffa4e 46 DigitalOut led3(LED4);
aurora_aeterna 8:202142fffa4e 47
cawald18 7:dd65856c3982 48 DigitalOut f1(p21); //Flipper functions used to generate tones
cawald18 5:bc7213111da0 49 DigitalOut f2(p22);
cawald18 5:bc7213111da0 50 DigitalOut f3(p23);
cawald18 7:dd65856c3982 51
cawald18 7:dd65856c3982 52 DigitalOut m1e(p17); //THIS ENABLES THE MOTOR DRIVER PINS. It is important to turn
cawald18 7:dd65856c3982 53 // it off when the motor is not playing a note because
cawald18 7:dd65856c3982 54 //the motor will waste power otherwise in the idle state
cawald18 6:2450dc369670 55 DigitalOut m2e(p18);
cawald18 6:2450dc369670 56 DigitalOut m3e(p19);
cawald18 7:dd65856c3982 57
cawald18 7:dd65856c3982 58 Ticker t1; //These are the ticker functions that call the flip functions
cawald18 5:bc7213111da0 59 Ticker t2;
cawald18 5:bc7213111da0 60 Ticker t3;
cawald18 7:dd65856c3982 61
cawald18 7:dd65856c3982 62 float motor1stop; //These are the times each motor is going to stop at in seconds
cawald18 5:bc7213111da0 63 float motor2stop;
cawald18 5:bc7213111da0 64 float motor3stop;
cawald18 4:f14ca9203f62 65
aurora_aeterna 8:202142fffa4e 66 char *targmatrix = "/sd/Zelda/notesmatrix.txt"; // testing
aurora_aeterna 8:202142fffa4e 67 char *targstart = "/sd/Zelda/notesstart.txt";
aurora_aeterna 8:202142fffa4e 68 char *targfinish = "/sd/Zelda/notesfinish.txt";
aurora_aeterna 8:202142fffa4e 69
cawald18 7:dd65856c3982 70 Timer motor1timer; //Used to keep track of the time
cawald18 7:dd65856c3982 71 void flip1() //These flip the output pins, generating a pulse
cawald18 5:bc7213111da0 72 {
cawald18 5:bc7213111da0 73 f1 = !f1;
cawald18 5:bc7213111da0 74 }
cawald18 5:bc7213111da0 75 void flip2()
cawald18 5:bc7213111da0 76 {
cawald18 5:bc7213111da0 77 f2 = !f2;
cawald18 5:bc7213111da0 78 }
cawald18 5:bc7213111da0 79 void flip3(){
cawald18 5:bc7213111da0 80 f3 = !f3;
cawald18 5:bc7213111da0 81 }
cawald18 5:bc7213111da0 82 /*
cawald18 5:bc7213111da0 83 Takes the midi number in from the array and then converts it to a frequency in hz;
cawald18 5:bc7213111da0 84 */
cawald18 5:bc7213111da0 85 float midi2freq(float midi){
cawald18 5:bc7213111da0 86 return 440.0*powf(2.0, (midi-69)/12);
cawald18 5:bc7213111da0 87 }
cawald18 5:bc7213111da0 88
aurora_aeterna 8:202142fffa4e 89 // bluetooth pause thread
aurora_aeterna 8:202142fffa4e 90
aurora_aeterna 8:202142fffa4e 91 void Bpause(void const *arguments){
aurora_aeterna 8:202142fffa4e 92 while(1){
aurora_aeterna 8:202142fffa4e 93 char bnum = 0;
aurora_aeterna 8:202142fffa4e 94 char bhit = 0;
aurora_aeterna 8:202142fffa4e 95 if (blue.getc()=='!'){
aurora_aeterna 8:202142fffa4e 96 if (blue.getc()=='B'){
aurora_aeterna 8:202142fffa4e 97 bnum = blue.getc(); //button number
aurora_aeterna 8:202142fffa4e 98 bhit = blue.getc(); //1=hit, 0=release
aurora_aeterna 8:202142fffa4e 99 if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
aurora_aeterna 8:202142fffa4e 100 switch (bnum) {
aurora_aeterna 8:202142fffa4e 101 case '7': //button 7 left arrow play
aurora_aeterna 8:202142fffa4e 102 pause = 0;
aurora_aeterna 8:202142fffa4e 103 break;
aurora_aeterna 8:202142fffa4e 104 case '8': //button 8 right arrow pause
aurora_aeterna 8:202142fffa4e 105 pause = 1;
aurora_aeterna 8:202142fffa4e 106 break;
aurora_aeterna 8:202142fffa4e 107 default:
aurora_aeterna 8:202142fffa4e 108 break;
aurora_aeterna 8:202142fffa4e 109 }
aurora_aeterna 8:202142fffa4e 110 }
aurora_aeterna 8:202142fffa4e 111 }
aurora_aeterna 8:202142fffa4e 112 }
aurora_aeterna 9:3e69e012c73a 113 Thread::wait(200);
aurora_aeterna 8:202142fffa4e 114 }
aurora_aeterna 8:202142fffa4e 115 }
aurora_aeterna 8:202142fffa4e 116
aurora_aeterna 8:202142fffa4e 117 // bluetooth input parsing function
aurora_aeterna 8:202142fffa4e 118
aurora_aeterna 8:202142fffa4e 119 int bluehelp(){
aurora_aeterna 8:202142fffa4e 120 char bnum = 0;
aurora_aeterna 8:202142fffa4e 121 char bhit = 0;
aurora_aeterna 8:202142fffa4e 122 if (blue.getc()=='!'){
aurora_aeterna 8:202142fffa4e 123 if (blue.getc()=='B'){
aurora_aeterna 8:202142fffa4e 124 bnum = blue.getc(); //button number
aurora_aeterna 8:202142fffa4e 125 bhit = blue.getc(); //1=hit, 0=release
aurora_aeterna 8:202142fffa4e 126 if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
aurora_aeterna 8:202142fffa4e 127 switch (bnum) {
aurora_aeterna 8:202142fffa4e 128 case '1': //number button 1 zelda
aurora_aeterna 8:202142fffa4e 129 targmatrix = "/sd/Zelda/notesmatrix.txt";
aurora_aeterna 8:202142fffa4e 130 targstart = "/sd/Zelda/notesstart.txt";
aurora_aeterna 8:202142fffa4e 131 targfinish = "/sd/Zelda/notesfinish.txt";
aurora_aeterna 8:202142fffa4e 132 return 1;
aurora_aeterna 8:202142fffa4e 133 case '2': //number button 2 meg
aurora_aeterna 8:202142fffa4e 134 targmatrix = "/sd/meglovania/notesmatrix.txt";
aurora_aeterna 8:202142fffa4e 135 targstart = "/sd/meglovania/notesstart.txt";
aurora_aeterna 8:202142fffa4e 136 targfinish = "/sd/meglovania/notesfinish.txt";
aurora_aeterna 8:202142fffa4e 137 return 1;
aurora_aeterna 8:202142fffa4e 138 case '3': //number button 3 wii
aurora_aeterna 8:202142fffa4e 139 targmatrix = "/sd/wii/notesmatrix.txt";
aurora_aeterna 8:202142fffa4e 140 targstart = "/sd/wii/notesstart.txt";
aurora_aeterna 8:202142fffa4e 141 targfinish = "/sd/wii/notesfinish.txt";
aurora_aeterna 8:202142fffa4e 142 return 1;
aurora_aeterna 8:202142fffa4e 143 case '4': //number button 4 fight
aurora_aeterna 8:202142fffa4e 144 targmatrix = "/sd/FightSong/notesmatrix.txt";
aurora_aeterna 8:202142fffa4e 145 targstart = "/sd/FightSong/notesstart.txt";
aurora_aeterna 8:202142fffa4e 146 targfinish = "/sd/FightSong/notesfinish.txt";
aurora_aeterna 8:202142fffa4e 147 return 1;
aurora_aeterna 8:202142fffa4e 148 case '5': //number 5 reset
aurora_aeterna 8:202142fffa4e 149 return 5;
aurora_aeterna 8:202142fffa4e 150 default:
aurora_aeterna 8:202142fffa4e 151 break;
aurora_aeterna 8:202142fffa4e 152 }
aurora_aeterna 8:202142fffa4e 153 }
aurora_aeterna 8:202142fffa4e 154 }
aurora_aeterna 8:202142fffa4e 155 }
aurora_aeterna 8:202142fffa4e 156 return -1;
aurora_aeterna 8:202142fffa4e 157 }
aurora_aeterna 8:202142fffa4e 158
cawald18 0:6cc2c1f459f1 159 int main() {
aurora_aeterna 8:202142fffa4e 160 start:
cawald18 7:dd65856c3982 161 f1 = 0; //Initialize everything
cawald18 6:2450dc369670 162 f2 = 0;
cawald18 6:2450dc369670 163 f3 = 0;
cawald18 6:2450dc369670 164 m1e = 0;
cawald18 6:2450dc369670 165 m2e = 0;
cawald18 6:2450dc369670 166 m3e = 0;
cawald18 6:2450dc369670 167 motor1stop = 0;
cawald18 6:2450dc369670 168 motor2stop = 0;
cawald18 6:2450dc369670 169 motor3stop = 0;
aurora_aeterna 8:202142fffa4e 170
aurora_aeterna 11:f9460ac84e27 171 sd.disk_initialize();
aurora_aeterna 11:f9460ac84e27 172
aurora_aeterna 8:202142fffa4e 173 Thread Thread(Bpause); // may not work
cawald18 6:2450dc369670 174
cawald18 7:dd65856c3982 175 bool holdNotes = 0; //Stop reading notes file once we have the next note
cawald18 7:dd65856c3982 176 bool holdStart = 0; //Stop reading start times once we have parsed the starrt
cawald18 2:39d41fd0f52b 177 bool holdFinish = 0; //Stop reading in finish times
cawald18 7:dd65856c3982 178 pc.baud(115200); //Baud rate used for debugging if needed
cawald18 7:dd65856c3982 179 const char * d; //This is old when I was messing around with this stuff
cawald18 7:dd65856c3982 180 //But im actually not sure if I used the names later, should probably check
cawald18 1:ddbed1542633 181 std::string str = "123.4567";
cawald18 1:ddbed1542633 182 d = str.c_str();
cawald18 1:ddbed1542633 183 // convert string to float
cawald18 1:ddbed1542633 184 float num_float = std::atof(d);
cawald18 1:ddbed1542633 185
cawald18 1:ddbed1542633 186 // convert string to double
cawald18 6:2450dc369670 187 //pc.printf("%f\n", num_float-1.0);
cawald18 7:dd65856c3982 188 pc.printf("Im Alive");
cawald18 1:ddbed1542633 189 int temp = 0;
cawald18 1:ddbed1542633 190
cawald18 1:ddbed1542633 191 pc.printf("Hello World!");
cawald18 1:ddbed1542633 192 string output = "";
aurora_aeterna 8:202142fffa4e 193
aurora_aeterna 8:202142fffa4e 194 // select the song with bluetooth
aurora_aeterna 8:202142fffa4e 195 songselect:
aurora_aeterna 8:202142fffa4e 196 led2 = 1;
aurora_aeterna 8:202142fffa4e 197 int songret = bluehelp();
aurora_aeterna 8:202142fffa4e 198 if (songret != 1)
aurora_aeterna 8:202142fffa4e 199 {
aurora_aeterna 8:202142fffa4e 200 led2 = !led2;
aurora_aeterna 8:202142fffa4e 201 goto songselect;
aurora_aeterna 8:202142fffa4e 202 }
aurora_aeterna 8:202142fffa4e 203 // blue helper function should have selected a song for us by here
aurora_aeterna 8:202142fffa4e 204 pc.printf(targmatrix);
aurora_aeterna 8:202142fffa4e 205 FILE *fpn = fopen(targmatrix, "r"); //Fpn is a pointer to the notes file that contains the note values
aurora_aeterna 8:202142fffa4e 206 FILE *fpstart = fopen(targstart, "r"); //Fpstart is a pointer to the file on the sd card that contains the start times
aurora_aeterna 8:202142fffa4e 207 FILE *fpfinish = fopen(targfinish,"r"); //Fpfinish is a pointer to the file on the sd card that says how long each note should last
aurora_aeterna 8:202142fffa4e 208 unsigned char c;
cawald18 1:ddbed1542633 209
aurora_aeterna 10:a7cd50115e8e 210
cawald18 7:dd65856c3982 211 Note myNote = Note(0, 0, 0); //Create a blank note
aurora_aeterna 10:a7cd50115e8e 212 int playtime = 0;
aurora_aeterna 10:a7cd50115e8e 213 motor1timer.start(); //Start the timer
aurora_aeterna 10:a7cd50115e8e 214 led3 = 1;
cawald18 7:dd65856c3982 215 while (!feof(fpn)){ // while not end of file, keep goig
aurora_aeterna 9:3e69e012c73a 216 while(!pause){
aurora_aeterna 10:a7cd50115e8e 217 motor1timer.stop();
aurora_aeterna 10:a7cd50115e8e 218 m1e = 0;
aurora_aeterna 10:a7cd50115e8e 219 m2e = 0;
aurora_aeterna 10:a7cd50115e8e 220 m3e = 0;
aurora_aeterna 10:a7cd50115e8e 221 Thread::wait(100);
aurora_aeterna 10:a7cd50115e8e 222 playtime = 1;
aurora_aeterna 10:a7cd50115e8e 223 }
aurora_aeterna 10:a7cd50115e8e 224 if(playtime){
aurora_aeterna 10:a7cd50115e8e 225 playtime = 0;
aurora_aeterna 10:a7cd50115e8e 226 motor1timer.start();
aurora_aeterna 8:202142fffa4e 227 }
cawald18 7:dd65856c3982 228 while(!holdNotes) { //Make sure we haven't completed the note section yet
aurora_aeterna 11:f9460ac84e27 229 c = fgetc(fpn); // get a character/byte from the file
aurora_aeterna 11:f9460ac84e27 230 if(c == '!') fclose(fpn);
cawald18 7:dd65856c3982 231 if(c == ','){ //If the character is a comma, we have parsed the full note
cawald18 1:ddbed1542633 232 stringstream degree(output);
cawald18 7:dd65856c3982 233 degree >> temp; //These are weird names I got from the example code I copied
cawald18 7:dd65856c3982 234 // but basically this converts a string into a float
cawald18 6:2450dc369670 235 //pc.printf("%d\n", temp);
cawald18 6:2450dc369670 236 myNote.midiNote = temp;
cawald18 1:ddbed1542633 237 output = "";
cawald18 2:39d41fd0f52b 238 holdNotes = 1;
cawald18 1:ddbed1542633 239 } else {
cawald18 7:dd65856c3982 240 output += c; //If this isn't the end of the file, lets add the character we read onto the end
cawald18 1:ddbed1542633 241 }
cawald18 2:39d41fd0f52b 242 }
cawald18 6:2450dc369670 243
cawald18 7:dd65856c3982 244 output = ""; //Reset the output
cawald18 7:dd65856c3982 245 while(!holdStart) { //Do the same thing as above but for the start times
cawald18 2:39d41fd0f52b 246 c = fgetc(fpstart);
aurora_aeterna 11:f9460ac84e27 247 if(c == '!') fclose(fpstart);
cawald18 2:39d41fd0f52b 248 if(c == ','){
cawald18 2:39d41fd0f52b 249 d = output.c_str();
cawald18 2:39d41fd0f52b 250 num_float = std::atof(d);
cawald18 6:2450dc369670 251 //pc.printf("%f\n", num_float);
cawald18 2:39d41fd0f52b 252 output = "";
cawald18 2:39d41fd0f52b 253 myNote.start = num_float;
cawald18 2:39d41fd0f52b 254 holdStart = 1;
cawald18 2:39d41fd0f52b 255 } else {
cawald18 2:39d41fd0f52b 256 output+= c;
cawald18 2:39d41fd0f52b 257 }
cawald18 1:ddbed1542633 258
cawald18 2:39d41fd0f52b 259 }
cawald18 1:ddbed1542633 260 output = "";
cawald18 7:dd65856c3982 261 while(!holdFinish){ //Do the same thing as above with durations
cawald18 1:ddbed1542633 262 c = fgetc(fpfinish);
aurora_aeterna 11:f9460ac84e27 263 if(c == '!') fclose(fpfinish);
cawald18 1:ddbed1542633 264 if(c == ','){
cawald18 1:ddbed1542633 265 d = output.c_str();
cawald18 1:ddbed1542633 266 num_float = std::atof(d);
cawald18 6:2450dc369670 267 //pc.printf("%f\n", num_float);
cawald18 1:ddbed1542633 268 output = "";
cawald18 2:39d41fd0f52b 269 myNote.stop = num_float;
cawald18 2:39d41fd0f52b 270 holdFinish = 1;
cawald18 1:ddbed1542633 271 } else {
cawald18 1:ddbed1542633 272 output+= c;
cawald18 1:ddbed1542633 273 }
cawald18 1:ddbed1542633 274
cawald18 7:dd65856c3982 275 } //ONCE WE REACH THIS POINT ALL PARTS OF THE NOTE OBJECT SHOULD BE SET and USABLE
cawald18 7:dd65856c3982 276
cawald18 7:dd65856c3982 277 /*
cawald18 7:dd65856c3982 278 The next three functions check to see if the motors stop time has past
cawald18 7:dd65856c3982 279 or will pass in the next ms. If so, it stops the motor from playing and
cawald18 7:dd65856c3982 280 disables the pin.
cawald18 7:dd65856c3982 281 */
cawald18 7:dd65856c3982 282 if((motor1stop-.001)< motor1timer.read()) {
cawald18 6:2450dc369670 283 t1.detach();
cawald18 6:2450dc369670 284 m1e = 0;
cawald18 6:2450dc369670 285 }
cawald18 7:dd65856c3982 286 if((motor2stop-.001)< motor1timer.read()){
cawald18 6:2450dc369670 287 t2.detach();
cawald18 6:2450dc369670 288 m2e = 0;
cawald18 6:2450dc369670 289 }
cawald18 7:dd65856c3982 290 if((motor3stop-.001)< motor1timer.read()) {
cawald18 6:2450dc369670 291 t3.detach();
cawald18 6:2450dc369670 292 m3e = 0;
cawald18 0:6cc2c1f459f1 293 }
cawald18 2:39d41fd0f52b 294
cawald18 7:dd65856c3982 295
cawald18 7:dd65856c3982 296 /*
cawald18 7:dd65856c3982 297 This now looks at the note object we currently have parsed in and sees
cawald18 7:dd65856c3982 298 if it is time to try and assign it to a motor to be played. If it is not time,
cawald18 7:dd65856c3982 299 we are simply going to keep looping until it is time.
cawald18 7:dd65856c3982 300 */
cawald18 6:2450dc369670 301 if(myNote.start <= motor1timer.read()){
cawald18 7:dd65856c3982 302 if(motor1stop-.002 < motor1timer.read()) { //Check to see if the motor has stopped playing or is going to stop playing
cawald18 6:2450dc369670 303 t1.attach(&flip1, .5/midi2freq(myNote.midiNote)); //
cawald18 7:dd65856c3982 304 motor1stop = myNote.stop+motor1timer.read(); //Set the new stop time to be the current time plus the duration of the note
cawald18 7:dd65856c3982 305 m1e = 1; //Enable the note
cawald18 7:dd65856c3982 306 holdNotes = 0; //Reset the notes control to enable reading the next note
cawald18 6:2450dc369670 307 holdStart = 0;
cawald18 6:2450dc369670 308 holdFinish = 0;
cawald18 7:dd65856c3982 309 } else if(motor2stop-.002 < motor1timer.read()) {
cawald18 6:2450dc369670 310 t2.attach(&flip2, .5/midi2freq(myNote.midiNote));
cawald18 6:2450dc369670 311 motor2stop = myNote.stop+motor1timer.read();
cawald18 6:2450dc369670 312 m2e = 1;
cawald18 6:2450dc369670 313 holdNotes = 0;
cawald18 6:2450dc369670 314 holdStart = 0;
cawald18 6:2450dc369670 315 holdFinish = 0;
cawald18 7:dd65856c3982 316 } else if(motor3stop-.002 < motor1timer.read()) {
cawald18 6:2450dc369670 317 t3.attach(&flip3, .5/midi2freq(myNote.midiNote));
cawald18 6:2450dc369670 318 motor3stop = myNote.stop+motor1timer.read();
cawald18 6:2450dc369670 319 m3e = 1;
cawald18 6:2450dc369670 320 holdNotes = 0;
cawald18 6:2450dc369670 321 holdStart = 0;
cawald18 6:2450dc369670 322 holdFinish = 0;
cawald18 7:dd65856c3982 323 } else { //If all three motors are playing something and it is time to play the new note,
cawald18 7:dd65856c3982 324 // We simply do nothing with it and skip it
cawald18 6:2450dc369670 325 holdNotes = 0;
cawald18 6:2450dc369670 326 holdStart = 0;
cawald18 6:2450dc369670 327 holdFinish = 0;
cawald18 6:2450dc369670 328 }
cawald18 6:2450dc369670 329 } //We have now finished assigning the note to be played
cawald18 6:2450dc369670 330 led1 = !led1;
cawald18 6:2450dc369670 331
aurora_aeterna 8:202142fffa4e 332 //if(!feof(fpn)) goto start;
cawald18 6:2450dc369670 333
cawald18 6:2450dc369670 334 } //End of while loop for playing
cawald18 6:2450dc369670 335 motor1stop = 0;
cawald18 6:2450dc369670 336 motor2stop = 0;
cawald18 6:2450dc369670 337 motor3stop = 0;
aurora_aeterna 11:f9460ac84e27 338
aurora_aeterna 11:f9460ac84e27 339 motor1timer.stop();
aurora_aeterna 11:f9460ac84e27 340 motor1timer.reset();
aurora_aeterna 8:202142fffa4e 341 // close all the files before trying reopen
aurora_aeterna 8:202142fffa4e 342 pc.printf("attempt to close files\n");
aurora_aeterna 8:202142fffa4e 343 fclose(fpn);
aurora_aeterna 8:202142fffa4e 344 fclose(fpstart);
aurora_aeterna 8:202142fffa4e 345 fclose(fpfinish);
aurora_aeterna 8:202142fffa4e 346 pc.printf("files closed");
aurora_aeterna 8:202142fffa4e 347 //while(bluehelp() != 5){
aurora_aeterna 8:202142fffa4e 348 // Thread::wait(100);
aurora_aeterna 8:202142fffa4e 349 // }
aurora_aeterna 9:3e69e012c73a 350 goto start;
cawald18 0:6cc2c1f459f1 351 }