/*
This function will "Play" Simon. We pass it a queue array of
the buttons to push. It will pop off each element, calling
actuate servo each time, until the array is empty
*/
void Challenge::Play(QueueArray<int> *colorSequence)
{
while (!colorSequence->isEmpty())
{
actuateServo(colorSequence->pop());
}
}
void
onResourceInitialization(void)
{
for (unsigned i = 0; i < c_servo_count; ++i)
{
enableServo(i);
actuateServo(i, 0);
}
}
/*
This function will start the simon game. It does this by calibrating
each photocell to its environment, and then pressing the center button;
*/
void Challenge::startSimon(int pinHolding[], int length)
{
for (int i = 0; i < length; i++)
{
Average<int> ave(100);
for (int j = 0; j < 100; j++)
{
ave.push(analogRead(pinHolding[i]));
}
cellThresholds[i] = ave.mode();
}
actuateServo(0);
}
void
consume(const IMC::SetServoPosition* msg)
{
actuateServo(msg->id, msg->value);
}