Diff: main.cpp

Revision:

1:ebf16f5cbdec

Child:

2:7210303c9115

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Jan 14 16:47:12 2015 +0000
@@ -0,0 +1,68 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "C12832_lcd.h"
+
+float sonarDistance;
+float servoPosition;
+
+Mutex sonarDistance_mutex;
+Mutex servoPosition_mutex;
+
+AnalogIn sonarPin(p17);
+PwmOut servoPin(p21);
+
+C12832_LCD lcd;
+
+void sonarSensor(void const *args){
+    while(true){
+        sonarDistance_mutex.lock();
+            sonarDistance = sonarPin.read();
+        sonarDistance_mutex.unlock();
+    }
+}
+
+void servoControl(void const *args){
+    while(true){
+        servoPosition_mutex.lock();
+            servoPin.write(servoPosition);
+        servoPosition_mutex.unlock();
+    }
+}
+
+void logic(void const *args){
+    while(true){
+        sonarDistance_mutex.lock();
+        servoPosition_mutex.lock();
+            servoPosition = sonarDistance;
+        sonarDistance_mutex.unlock();
+        servoPosition_mutex.unlock();
+    }
+}
+
+void display(void const *args){
+    while(true){
+        sonarDistance_mutex.lock();
+        servoPosition_mutex.lock();
+            lcd.cls();
+            lcd.locate(0,0);
+            lcd.printf("Sonar : %3.2f \n Servo : %3.2f",sonarDistance,servoPosition);
+        sonarDistance_mutex.unlock();
+        servoPosition_mutex.unlock();
+        Thread::wait(200);
+            
+    }
+}
+
+int main(){
+    sonarDistance = 0.0f;
+    servoPosition = 0.0f;
+    
+    
+    Thread sonarSensor_thread(sonarSensor);
+    Thread servoControl_thread(servoControl);
+    Thread logic_thread(logic);
+    Thread display_thread(display);
+    
+    while(true){
+        }    
+    }
\ No newline at end of file