Diff: main.cpp

Revision:

10:6059097698f7

Parent:

9:88d70b0c1b8b

Child:

12:309dc0947373

diff -r 88d70b0c1b8b -r 6059097698f7 main.cpp
--- a/main.cpp	Thu Jan 29 16:18:19 2015 +0000
+++ b/main.cpp	Thu Jan 29 20:32:37 2015 +0000
@@ -2,8 +2,11 @@
 #include "rtos.h"
 #include "C12832_lcd.h"
 
+//File Access
+LocalFileSystem local("local");
 
-
+//Timer
+Timer t;
 
 //Varible
 float sonarDistance;
@@ -46,26 +49,40 @@
     int Size=16;
     float Average_4[16];                                        //number of value in the array
     float Average_Sum=0;
-    
+    bool exportDebugData = true;
+    float debugDataTimeLimit = 60.0f;
+    FILE *graphcsv = fopen("/local/graph.csv","w");
   
     
     while(true)
         {
         for(int i=0;i<Size;i++)
             {
-             
+             if (exportDebugData){
+                fprintf(graphcsv, "%f,",t.read());              // Print time to file;
+             }
              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
+                 Average_4[i]= sonarDistance;                   //Add the new value to the array
+                 if (exportDebugData){
+                    fprintf(graphcsv, "%f,",sonarDistance);     // Write sonarDistance to file
+                 }
              sonarDistance_mutex.unlock();                      //Mutex unlock for the Sonar 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 = Average_Sum/Size;              //Divide the array by the number of element in the array
+                 if (exportDebugData){
+                    fprintf(graphcsv, "%f\n",servoPosition);    // Write servoPosition to file
+                 }
              servoPosition_mutex.unlock();                      //Mutex unlock for the servo value
             
+            if(t.read() <= debugDataTimeLimit){
+                fclose(graphcsv);
+                exportDebugData = false;
+            }
             }//end for loop
         }//end of while loop
     }//End of thread
@@ -137,6 +154,7 @@
     sonarDistance = 0.0f;
     servoPosition = 0.0f;
     
+    t.start();
     
     Thread sonarSensor_thread(sonarSensor);
     Thread servoControl_thread(servoControl);