From e5949c0b3a7995d9f0908e151152731278b1db84 Mon Sep 17 00:00:00 2001
From: jp7g21 <jp7g21@soton.ac.uk>
Date: Sat, 13 Nov 2021 21:34:28 +0000
Subject: [PATCH] Improved shake, added debug mode
---
duck/duck.c | 40 ++++++++++++++++++++++++++++------------
1 file changed, 28 insertions(+), 12 deletions(-)
diff --git a/duck/duck.c b/duck/duck.c
index cf2c4d3..1735615 100644
--- a/duck/duck.c
+++ b/duck/duck.c
@@ -5,19 +5,26 @@
#include <stdlib.h>
#include "../libduck/libduck.h"
-#define SHAKE_ANGLE 45
+#define SHAKE_ANGLE 90
#define SHAKE_T 300
-void shake(int motor, int number)
+void shake(int motor, int number, int min, int max, int delay)
{
- for (int j=0; j < number; j++) {
- duck_set_position(motor, -SHAKE_ANGLE);
- duck_delay(SHAKE_T);
- duck_set_position(motor, SHAKE_ANGLE);
- duck_delay(2 * SHAKE_T);
- duck_set_position(motor, 0);
- duck_delay(SHAKE_T);
+ int delay1 = (delay * (-min)) / (max - min);
+ int delay2 = delay - delay1;
+
+ duck_set_position(motor, min);
+ duck_delay(delay1);
+
+ for (int j=0; j < number-1; j++) {
+ duck_set_position(motor, max);
+ duck_delay(delay);
+ duck_set_position(motor, min);
+ duck_delay(delay);
}
+
+ duck_set_position(motor, 0);
+ duck_delay(delay2);
}
int main(int argc, char **argv)
@@ -26,8 +33,11 @@ int main(int argc, char **argv)
const char *fname = DEFAULT_DUCK_FNAME;
char buf[100];
- while ((option=getopt(argc, argv, "t:")) != -1) {
+ while ((option=getopt(argc, argv, "t:d")) != -1) {
switch (option) {
+ case 'd':
+ duck_debug_mode = 1;
+ break;
case 't':
strncpy(buf, optarg, 100);
fname = buf;
@@ -60,13 +70,19 @@ int main(int argc, char **argv)
} else if (strcmp(argv[i], "headshake") == 0) {
if (argv[i+1]) {
int numshakes = atoi(argv[i+1]);
- shake(MOTOR_1, numshakes);
+ shake(MOTOR_3, numshakes, -90, 90, 250);
i++;
}
} else if (strcmp(argv[i], "nod") == 0) {
if (argv[i+1]) {
int numnods = atoi(argv[i+1]);
- shake(MOTOR_2, numnods);
+ shake(MOTOR_2, numnods, -90, 0, 250);
+ i++;
+ }
+ } else if (strcmp(argv[i], "facepalm") == 0) {
+ if (argv[i+1]) {
+ int numnods = atoi(argv[i+1]);
+ shake(MOTOR_2, numnods, -90, 0, 250);
i++;
}
}
--
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