ECE4333 - 2018 - Ahmed & Brandon / Mbed OS PlayBack

PlayBack

Dependencies:   TPixy-Interface

Fork of ManualControlFinal by ECE4333 - 2018 - Ahmed & Brandon

main.cpp@15:cf67f83d5409, 2018-03-03 (annotated)

Committer:
asobhy
Date:
Sat Mar 03 04:47:26 2018 +0000
Revision:
15:cf67f83d5409
Parent:
11:9135e5bc2fcf
Child:
17:1184df616383
following robot almost done. Need to get a better object to follow. Need to use a torch to light up the object. Need to adjust width of object in camera settings to match new object then test.

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 10:8919b1b76243 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 0:a355e511bc5d 48 Thread::wait(500); // Go to sleep for 500 ms
asobhy 0:a355e511bc5d 49 }
asobhy 0:a355e511bc5d 50 }