Revision 42:4cad666e57f4, committed 2021-12-13

Comitter:

elizabethtaylor

Date:

Mon Dec 13 19:40:03 2021 +0000

Parent:

41:9c7e35212c68

Commit message:

Made rubric items global variables

Changed in this revision

--- a/main.cpp	Fri Dec 10 21:58:49 2021 +0000
+++ b/main.cpp	Mon Dec 13 19:40:03 2021 +0000
@@ -43,6 +43,12 @@
 float accelData[3];         //global accel data
 //float vessel_length=0.75;   //vessel length 0.75 meters
 
+float part1_iterations=3;
+float part2_target_depth=2;
+float part2_timeout=60;
+float part3_target_depth=2;
+
+
 //functions
 void welcome();
 void log_data();
@@ -100,7 +106,7 @@
 
     //Part One
     int count=0;
-    while(count<3) {
+    while(count<part1_iterations) {
         led1=1;
         count=count+1;
         float pw=percent;
@@ -112,14 +118,14 @@
     //Part Two
     timer2.start();
 
-    while(timer2.read()<60) {
+    while(timer2.read()<part2_timeout) {
         led1=0;
         led2=1;
         float current_depth=p_sensor.depth();
         float pw=percent;
         float on_time=2;
 
-        if (current_depth<1.8) {
+        if (current_depth<part2_target_depth-.2) {
             thrust_on(pw,on_time);
         }
     }
@@ -130,9 +136,8 @@
     while(timer2.read()<60) {
         led2=0;
         led3=1;
-        float error_deep = 2.3;    //deep end of error band 2.5m ?
-        float error_shallow = 1.7; //shallow end of error band 1.5m?
-        float target_depth=2;
+        float error_deep = part3_target_depth +.3;    //deep end of error band 2.3m ?
+        float error_shallow = part3_target_depth -.3; //shallow end of error band 1.7m?
         float current_depth = p_sensor.depth();
         float on_time=2;
 
@@ -141,11 +146,11 @@
             float pw = 1.5;
             thrust_on(pw,on_time);
         }             // turn on thruster at set pw and ontime
-        else if ((current_depth>=error_shallow)&&(current_depth<=target_depth)) {//if float is between 1.6 & 2 meters deep
+        else if ((current_depth>=error_shallow)&&(current_depth<=part3_target_depth)) {//if float is between 1.6 & 2 meters deep
             float pw = 1.2;
             thrust_on(pw,on_time);
         } 
-        else if ((current_depth>=target_depth)&&(current_depth<=error_deep)) {//if float is inbetween 2 & 2.4 meters deep
+        else if ((current_depth>=part3_target_depth)&&(current_depth<=error_deep)) {//if float is inbetween 2 & 2.4 meters deep
             float pw = 1.0;
             thrust_on(pw,on_time);
         }                        
@@ -221,7 +226,7 @@
 
 
     fp = fopen(fname, "a");
-    fprintf(fp, "$DATA %f,%f,%f,%f,%f,%f,%f \r\n", ttime,depth,pressure,accelData[0],accelData[1],accelData[2],light.light());
+    fprintf(fp, "$DATA, %f,%f,%f,%f,%f,%f,%f \r\n", ttime,depth,pressure,accelData[0],accelData[1],accelData[2],light.light());
     fclose(fp);
 }