Finish implementing and debugging example riddles

main.c

@@ -3,10 +3,11 @@
 
 #include "Util.h"
 
-//#include "spring_riddle.h"
-#include "hill_riddle.h"
+#include "easy_riddle.h"
+//#include "hill_riddle.h"
 //#include "lever_riddle.h"
-//#include "easy_riddle.h"
+//#include "nine_riddle.h"
+//#include "spring_riddle.h"
 
 #define STACKSIZE (CYGNUM_HAL_STACK_SIZE_MINIMUM+1024)
 static cyg_uint8 my_stack[STACKSIZE];

riddles/nine_riddle.h

+#pragma once
+
+#include <stdint.h>
+#include <stdio.h>
+#include <inttypes.h>
+#include <stdio.h>
+
+#include "DCMotor.h"
+#include "ExternButton.h"
+#include "LeverKey.h"
+#include "ServoMotor.h"
+#include "Util.h"
+
+void riddle(void) {
+    bool button_pressed = false;
+    bool spring_broken = false;
+    bool upside_down = false;
+    bool levers_set = false;
+
+    servo_set_percent(SERVO_0, 0.5);
+    dc_set_percent(0, 0.0);
+
+    while (true) {
+        //poti protection
+        bool protection = block_spring(LOWER_BOUND, 256) || block_spring(UPPER_BOUND, 4096 - 256);
+
+        //check if solved
+        if(button_pressed && spring_broken && upside_down && levers_set) {
+            printf("CONGRATULATIONS! YOU FINALLY MADE IT!\n");
+            servo_set_percent(SERVO_0, 1.0);
+            break;
+        }
+
+        button_pressed = button_get();
+
+        double degree_max = get_degree_max();
+        upside_down = (degree_max < 90);
+
+        //spring riddle can only be solved if button is pressed
+        if (!protection) {
+            if (spring_broken) {
+                dc_set_percent(0, 0.0);
+            }
+            else if (button_pressed) {
+                spring_broken = simulate_spring_simple();
+            }
+            else if (!block_spring(UPPER_BOUND, 2048)) {
+                dc_set_percent(0, 0.0);
+            }
+        }
+
+        //Binary 9 up binary 6 down
+        levers_set = lever_get(LEVER_0) == 1 && lever_get(LEVER_3) == 1 && lever_get(LEVER_1) == -1 && lever_get(LEVER_2) == -1;
+    }
+}
\ No newline at end of file

riddles/spring_riddle.h

@@ -48,7 +48,7 @@ void riddle(void) {
         }
     }
 
-    //same riddle using parametrized spring simulation
+    //same riddle using parametrized spring simulation, however the liniar simulation is broken there
     /*struct spring riddle1[3];
     riddle1[0] = set_spring(256, 'n', 0, false); //potty deadzone
     riddle1[1] = set_spring(4096 - 256, 'r', -1, false); // main spring simulation

src/Util.cpp

@@ -149,6 +149,7 @@ extern "C" bool simulate_spring(Spring springs[], size_t length) {
     for(size_t i = 0; i < length; i++){
         if (adc_value < springs[i].threshold){
             if (springs[i].power < 0){
+                //FIXME both directions and dynamic start and endpoint
                 if (springs[i].direction == SPRING_LEFT){
                     dc_set_percent(DC_LEFT, adc_value / 4096.0);
                 }