4 years, 6 months ago.

How to pause and resume threads, and how to switch between them?

Hello everyone, I have been recently introduced to Mbed due to it's multithreading capabilities.

I am attempting to create a state machine which controls 3 stepper motors. Sometimes they will all move at the same time, and sometimes they may move individually, depending on which state the application is at.

For example:

1st state: Move 1 Description: Move the first stepper motor, and change the flags to trigger the next state

2nd state: Move 2 n 3 Description: Move only the second and third stepper motors, wait till all motion is completed before proceeding to next state

3rd state: Move 1 Description: Move only the first stepper motor.

Now, the way I have tried to tackle this is to define 3 threads for each stepper motor. Ie

<<Thread Stepper1(osPriorityHigh); Thread Stepper2(osPriorityHigh2); Thread Stepper3(osPriorityHigh3);

Then for each stepper I have defined their required functions/movements, and made completion flags, ie:

<< bool Stepper1flag = false; bool Stepper2flag = false; bool Stepper3flag = false;

void Move1_Home(){ move, and when complete, flag to true Stepper1flag = true; }

int main(){ stepper1.start(Move1); stepper2.start(Move2); stepper3.start(Move3);

while(1){}

}

I am expecting that once the flags for the 'move' function are up, the next functions that will execute would be the ones stated in state 2. However, what's happening is that only the Move1 executes, and the rest of the code does not execute.

I would appreciate if anyone can shed some insight and/or comment on what I'm doing wrong here.