Limit the rate of change of output

Projects General Guidance
8

Thanks again.
I think I understand but I'm afraid that I am a bit out of my depth! This is my first Arduino project and my first attempt at programming since writing touch typing trainers and racer games on the C64! :astonished:

Here's my attempt at code for what it's worth!

/*
tank controller try 1
 License: CC-BY SA 3.0 - Creative commons share-alike 3.0
 use this code however you'd like, just keep this license and
 attribute. Let me know if you make hugely, awesome, great changes.
 */

#include <Servo.h>
#include <IRLib.h>


//Constant
//int RECV_PIN = 2;           // IR Sensor not required, done through interrupt - but it is in pin 2 
int led = 13;                 // Hit LED
//int hashAnswer = 84696349;  // The hashed answer of recived IR signal (IRrecv)
int hashAnswer = 22621;       // The hashed answer of recived IR signal (IRrecvPCI)
Servo myservoL;               // Servo object for ServoL
Servo myservoR;               // Servo object for ServoR
unsigned long interval=1000;  // Time we need to turn on hit LED to signal we are hit
int n = 4;


//variables
IRsend My_Sender;             //IR send object
unsigned int Signal[] = {
  3100,2800,5950}; //RAW outout code for IR
int i;                         // Counter for IR send loop
IRrecvPCI My_Receiver(0);     //IR recieve function
IRdecode My_Decoder;          //IR decode function
IRdecodeHash My_Hash_Decoder; //Decode hash function
int hashResult;               //The result of the hashed IR recived value
int chL;                      // Here's where we'll keep our left channel values
int chR;                      // Here's where we'll keep our right channel values
int chF;                      // Channel value for fire
int hitcount;                 // variable to use to count hits
int slowstage1;               // point at which we slow by 50%
int slowstage2;               // point at which we slow by 75%
unsigned long waitUntil=interval; // millis() returns an unsigned long.


void setup() {

  pinMode(5, INPUT);            // Set our left servo input pins as such
  myservoL.attach(8);           // attaches the servo on pin 9 to the servo object
  pinMode(6, INPUT);            // Set our right servo input pins as such
  myservoR.attach(9);           // attaches the servo on pin 10 to the servo object
  pinMode(7, INPUT);            // set our fire channel to pin 7

  pinMode(led, OUTPUT);         //Set hit LED pin as output
  My_Receiver.enableIRIn();     // Start IR the receiver
  Serial.begin(9600);           // Pour a bowl of Serial
  hitcount = 0;                 // initially set hitcount to 0
  slowstage1 = 1;               // number of hits to first slowstage
  slowstage2 = 5;               // number of hits to second slowstage
}

void loop() {

  chL = pulseIn(5, HIGH, 25000); // Read the pulse width of left Servo
  chR = pulseIn(6, HIGH, 25000); // Read the pulse width of Right servo
  chF = pulseIn(7, HIGH, 25000); // Read the pulse width of Fire servo

  if (hitcount >= slowstage1){
    chL = constrain(chL, 1250, 1530);  //I got hit to slowstage 1. Axis contrained to 50%
    chR = constrain(chR, 1250, 1530); 
  } 

  if (hitcount >= slowstage2) {
    chL = constrain(chL, 1125, 1510); //I got hit to slowstage 2. Axis constrained to 25%
    chR = constrain(chR, 1125, 1510); 
  }
  if (hitcount >=9) {
    chL = 1000;                       // Set both servos to zero... because I'm dead
    chR = 1000;
    myservoL.write(chL);              // tell left servo to go to position in variable 'chL'
    myservoR.write(chR);              // tell right servo to go to position in variable 'chR'    
    delay(15000);                     // I'm dead!  wait for 15 seconds to recover
    hitcount = 0;                     // reset the hit counter to zero and get going!
  }

  // there two send the outputs to the servos.
  myservoL.write(chL);              // tell left servo to go to position in variable 'chL'
  myservoR.write(chR);              // tell right servo to go to position in variable 'chR'  


  // 'Fire' routine.
  if (chF >= 1700) { // if fire is pressed.....:
    for (i = 0; i < n; i++) {
      My_Sender.IRsendRaw::send(Signal, sizeof(Signal)/sizeof(int), 38); //AnalysIR Batch Export - RAW 
      delay (10);
    }
    My_Receiver.enableIRIn();       //make sure IR reciever stays on after doing fire routine
  }

  // Got hit routine.
  if (My_Receiver.GetResults(&My_Decoder)) {//Puts results in My_Decoder
    My_Hash_Decoder.copyBuf(&My_Decoder);//copy the results to the hash decoder
    My_Decoder.decode();
    My_Hash_Decoder.decode();

    hashResult = (My_Hash_Decoder.hash);
    if (hashResult == hashAnswer) {       //compare the result to known answer
      if ((unsigned long)(millis() - waitUntil) >= interval) {  
        waitUntil =+ interval; // Increase our wait for 1000ms.
        digitalWrite(led, HIGH);
      }
      digitalWrite(led, LOW);
      hitcount ++; 
      //Serial.println (hitcount);
    }
    //Serial.println (hashResult);
    My_Receiver.resume(); 
  }

}