ECE4333 - 2018 - Ahmed & Brandon / Mbed OS ObjectFollower

ObjectFollower

Dependencies:   TPixy-Interface

Fork of PlayBack by ECE4333 - 2018 - Ahmed & Brandon

main.cpp@18:db6d9fc1ebd0, 2018-03-13 (annotated)

Committer:
asobhy
Date:
Tue Mar 13 22:14:24 2018 +0000
Revision:
18:db6d9fc1ebd0
Parent:
17:1184df616383
Child:
19:4fbffc755ed7
MANUAL CONTROL - main refresh rate increased to get better response - need more testing

Who changed what in which revision?

UserRevisionLine numberNew contents of line
asobhy 8:a0890fa79084 1 /******************************************************************************/
asobhy 0:a355e511bc5d 2 // ECE4333
asobhy 9:fe56b888985c 3 // LAB Partner 1: Ahmed Sobhy - ID: 3594449
asobhy 9:fe56b888985c 4 // LAB Partner 2: Brandon Kingman - ID: 3470444
asobhy 9:fe56b888985c 5 // Project: Autonomous Robot Design
asobhy 9:fe56b888985c 6 // Instructor: Prof. Chris Diduch
asobhy 8:a0890fa79084 7 /******************************************************************************/
asobhy 0:a355e511bc5d 8
asobhy 0:a355e511bc5d 9 #include "mbed.h"
asobhy 0:a355e511bc5d 10 #include "WatchdogThread.h"
asobhy 0:a355e511bc5d 11 #include "PiControlThread.h"
asobhy 0:a355e511bc5d 12 #include "ExternalInterruptThread.h"
asobhy 0:a355e511bc5d 13 #include "ui.h"
asobhy 10:8919b1b76243 14 #include "CameraThread.h"
asobhy 15:cf67f83d5409 15 #include "motor_driver_l.h"
asobhy 15:cf67f83d5409 16 #include "motor_driver_r.h"
asobhy 0:a355e511bc5d 17
asobhy 0:a355e511bc5d 18 /******************************************************************************/
asobhy 0:a355e511bc5d 19
asobhy 0:a355e511bc5d 20
asobhy 0:a355e511bc5d 21
asobhy 0:a355e511bc5d 22 /*******************************************************************************
asobhy 0:a355e511bc5d 23 * ******** Main Thread ********
asobhy 0:a355e511bc5d 24 *******************************************************************************/
asobhy 0:a355e511bc5d 25 int main() // This thread executes first upon reset or power-on.
asobhy 0:a355e511bc5d 26 {
asobhy 0:a355e511bc5d 27
asobhy 0:a355e511bc5d 28 // displays msg on terminal
asobhy 0:a355e511bc5d 29 displayStartupMsg();
asobhy 0:a355e511bc5d 30
asobhy 0:a355e511bc5d 31 // Initialize and run the threads below:
asobhy 0:a355e511bc5d 32 WatchdogThreadInit();
asobhy 17:1184df616383 33 //CameraThreadInit();
asobhy 0:a355e511bc5d 34 PiControlThreadInit();
asobhy 0:a355e511bc5d 35 ExternalInterruptThreadInit();
asobhy 0:a355e511bc5d 36
asobhy 0:a355e511bc5d 37 while(1)
asobhy 0:a355e511bc5d 38 {
asobhy 15:cf67f83d5409 39 // if robot goes crazy press 'r' to kill it
asobhy 15:cf67f83d5409 40 if(killRobot == true)
asobhy 15:cf67f83d5409 41 {
asobhy 15:cf67f83d5409 42 osThreadTerminate(PiControlId);
asobhy 15:cf67f83d5409 43 motorDriver_L_stop();
asobhy 15:cf67f83d5409 44 motorDriver_R_stop();
asobhy 15:cf67f83d5409 45 }
asobhy 15:cf67f83d5409 46
asobhy 11:9135e5bc2fcf 47 consoleUI();
asobhy 18:db6d9fc1ebd0 48 Thread::wait(100); // Go to sleep for 500 ms
asobhy 0:a355e511bc5d 49 }
asobhy 0:a355e511bc5d 50 }