AES TEAM
basic version
Dependencies: C12832_lcd USBHost mbed
Diff: main.cpp
- Revision:
- 8:b22ef9f44549
- Parent:
- 7:0fa7430ab812
- Child:
- 9:88d70b0c1b8b
--- a/main.cpp Mon Jan 26 14:58:21 2015 +0000
+++ b/main.cpp Mon Jan 26 23:01:46 2015 +0000
@@ -7,59 +7,59 @@
float servoPosition;
//Mutex
-Mutex sonarDistance_mutex; //Init Mutex for sensor value
-Mutex servoPosition_mutex; //Init Mutex for servo value
-Mutex LED_mutex;
+Mutex sonarDistance_mutex; //Init Mutex for sensor value
+Mutex servoPosition_mutex; //Init Mutex for servo value
//I/O
-AnalogIn sonarPin(p17); //Assign pin to read sonar sensor
-PwmOut servoPin(p21); //Assign pin for servo output
-DigitalOut myled1(LED1);
-DigitalOut myled2(LED2);
-DigitalOut myled3(LED3);
-DigitalOut myled4(LED4);
+AnalogIn sonarPin(p17); //Assign pin to read sonar sensor
+PwmOut servoPin(p21); //Assign pin for servo output
+PwmOut myled1(LED1); //Assign pin for LED1
+PwmOut myled2(LED2); //Assign pin for LED2
+PwmOut myled3(LED3); //Assign pin for LED3
+PwmOut myled4(LED4); //Assign pin for LED4
//LCD Setup
-C12832_LCD lcd; //setup LCD screen
+C12832_LCD lcd; //setup LCD screen
void sonarSensor(void const *args){
while(true){
- sonarDistance_mutex.lock(); //Mutex lock for the Servo value
- sonarDistance = sonarPin.read(); //Read analog voltage and store in variable
- sonarDistance_mutex.unlock(); //Mutex unlock for the Servo value
- Thread::wait(10); //Pause thread for 10msec
+ sonarDistance_mutex.lock(); //Mutex lock for the Servo value
+ sonarDistance = sonarPin.read(); //Read analog voltage and store in variable
+ sonarDistance_mutex.unlock(); //Mutex unlock for the Servo value
+ Thread::wait(10); //Pause thread for 10msec
} //End of While loop
} //End of Thread
void servoControl(void const *args){
while(true){
- servoPosition_mutex.lock(); //Mutex lock for the Servo value
- servoPin.write(servoPosition); //Write servo value to servo pin
- servoPosition_mutex.unlock(); //Mutex unlock for the Servo value
+ servoPosition_mutex.lock(); //Mutex lock for the Servo value
+ servoPin.write(servoPosition/2); //Write servo value to servo pin
+ servoPosition_mutex.unlock(); //Mutex unlock for the Servo value
} //end of while loop
} //end of thread
void logic(void const *args)
{
- int Size=12;
- float Average_4[12]; //number of value in the array
+ int Size=16;
+ float Average_4[16]; //number of value in the array
float Average_Sum=0;
while(true)
{
for(int i=0;i<Size;i++)
{
- Average_Sum = Average_Sum-Average_4[i]; //Remove the 4th oldest value from the average sum
-
- sonarDistance_mutex.lock(); //Mutex lock for the Sonar value
- Average_4[i]= sonarDistance; //Add the new value to the array
- sonarDistance_mutex.unlock(); //Mutex unlock for the Sonar value
- Average_Sum = Average_Sum + Average_4[i]; //Add the new array value to the sum
+ Average_Sum = Average_Sum-Average_4[i]; //Remove the 4th oldest value from the average sum
+
+ sonarDistance_mutex.lock(); //Mutex lock for the Sonar value
+ Average_4[i]= sonarDistance; //Add the new value to the array
+ sonarDistance_mutex.unlock(); //Mutex unlock for the Sonar value
- servoPosition_mutex.lock(); //Mutex lock for the servo value
- servoPosition = Average_Sum/Size; //Divide the array by the number of element in the array
- servoPosition_mutex.unlock(); //Mutex unlock for the servo value
+ Average_Sum = Average_Sum + Average_4[i]; //Add the new array value to the sum
+
+ servoPosition_mutex.lock(); //Mutex lock for the servo value
+ servoPosition = Average_Sum/Size; //Divide the array by the number of element in the array
+ servoPosition_mutex.unlock(); //Mutex unlock for the servo value
}//end for loop
@@ -68,62 +68,62 @@
void display(void const *args){
while(true){
- sonarDistance_mutex.lock();
- servoPosition_mutex.lock();
- lcd.cls();
- lcd.locate(0,0);
- lcd.printf("Sonar : %3.2f \nServo : %3.2f \nSCIENCE!",sonarDistance,servoPosition);
- sonarDistance_mutex.unlock();
- servoPosition_mutex.unlock();
- Thread::wait(200);
+ sonarDistance_mutex.lock(); //Mutex lock for the sonar value
+ servoPosition_mutex.lock(); //Mutex lock for the servo value
+ lcd.cls(); //Clear the lcd
+ lcd.locate(0,0); //Cursor postion on the lcd
+ lcd.printf("Sonar : %3.6f \nServo : %3.6f \nSCIENCE!",sonarDistance,servoPosition);
+ sonarDistance_mutex.unlock(); //Mutex unlock for the sonar value
+ servoPosition_mutex.unlock(); //Mutex unlock for the servo value
+ Thread::wait(200); //Thread Wait
}
}
void LED_meter(void const *args) {
- float LED_distance = 0;
+ float LED_distance = 0; //Create var to store sonar distance
while(true) {
- sonarDistance_mutex.lock();
- LED_distance=sonarDistance;
- sonarDistance_mutex.unlock();
+ sonarDistance_mutex.lock(); //Mutex lock for the sonar value
+ LED_distance=sonarDistance; //Store value of sonar sensor in LED_distance
+ sonarDistance_mutex.unlock(); //Mutex unlock for the sonar value
- if(LED_distance<=0.2)
+ if(LED_distance<=0.15)
{
- myled1 = 1;
+ myled1.write(((LED_distance-0.15)*-1)*20); //PWM the LED from 0% to 100%
}
else
{
- myled1 = 0;
+ myled1 = 0; //Turn off LED
}
- if(LED_distance<=0.15)
+ if(LED_distance<=0.10)
{
- myled2 = 1;
+ myled2.write(((LED_distance-0.10)*-1)*20); //PWM the LED from 0% to 100%
}
else
{
- myled2 = 0;
+ myled2 = 0; //Turn off LED
}
- if(LED_distance<=0.1)
+ if(LED_distance<=0.05)
{
- myled3 = 1;
+ myled3.write(((LED_distance-0.05)*-1)*40); //PWM the LED from 0% to 100%
}
else
{
- myled3 = 0;
+ myled3 = 0; //Turn off LED
}
- if(LED_distance<=0.05)
+ if(LED_distance<=0.025)
{
- myled4 = 1;
+ myled4.write(((LED_distance-0.025)*-1)*40); //PWM the LED from 0% to 100%
//s2=0.1;
}
else
{
- myled4 = 0;
+ myled4 = 0; //Turn off LED
//s2=1;
}
}