Diff: main.cpp

Revision:

1:b07198832d0d

Parent:

0:500360bf256b

--- a/main.cpp	Mon Mar 14 20:22:02 2016 +0000
+++ b/main.cpp	Thu Dec 13 20:44:04 2018 +0000
@@ -1,18 +1,13 @@
 #include "mbed.h"
 #include "Motor.h"
 #include "rtos.h"
-#include "wave_player.h"
-#include "SDFileSystem.h"
+
 #include "PowerControl/PowerControl.h"
 #include "PowerControl/EthernetPowerControl.h"
 
 Serial blue(p13,p14);
 Motor m1(p25, p26, p27); // pwm, fwd, rev
 Motor m2(p24, p30, p29); // pwm, fwd, rev
-AnalogOut DACout(p18);
-wave_player waver(&DACout);
-AnalogIn distance(p20);
-SDFileSystem sd(p5, p6, p7, p8, "sd");
 DigitalOut myled1(LED1);
 DigitalOut myled2(LED2);
 DigitalOut myled3(LED3);
@@ -24,18 +19,11 @@
 
 int warningCounter = 0;
 int clearCounter = 0;
-int warning_flag = 0;
 
 
-#define USR_POWERDOWN    (0x104)
-int semihost_powerdown()
+int main()
 {
-    uint32_t arg;
-    return __semihost(USR_POWERDOWN, &arg);
-}
-
-void bluetooth_thread(void const *args)
-{
+    // you can set the speeds within the case statements or you can write it using functions. 
     while(1) {
         char bnum=0;
         char bhit=0;
@@ -75,50 +63,39 @@
                             break;
                         case '5': //button 5 up arrow
                             if (bhit=='1') {
-                                    if (warning_flag != 1){
-                                        m1.speed(0.5);
-                                        m2.speed(0.55);
-                                    } else {
-                                      m1.speed(0.0);
-                                      m2.speed(0.0);  
-                                    }
-                    
+                                     m1.speed(0.1);
+                                     myled1 = 1;
+                                   
                             } else {
                                 m1.speed(0.0);
-                                m2.speed(0.0);
+                                myled1 = 0;
                                 //add release code here
                             }
                             break;
                         case '6': //button 6 down arrow
                             if (bhit=='1') {
                                 //add hit code here
-                                m1.speed(-0.5);
-                                m2.speed(-0.54);
+                              
                             } else {
-                                m1.speed(0.0);
-                                m2.speed(0.0);
+
                                 //add release code here
                             }
                             break;
                         case '7': //button 7 left arrow
                             if (bhit=='1') {
-                                m1.speed(0.5);
-                                m2.speed(-0.54);
+                              
                                 //add hit code here
                             } else {
-                                m1.speed(0.0);
-                                m2.speed(0.0);
+
                                 //add release code here
                             }
                             break;
                         case '8': //button 8 right arrow
                             if (bhit=='1') {
                                 //add hit code here
-                                m1.speed(-0.5);
-                                m2.speed(0.5);
+                               
                             } else {
-                                m1.speed(0.0);
-                                m2.speed(0.0);
+
                                 //add release code here
                             }
                             break;
@@ -128,114 +105,9 @@
                 }
             }
         }
-        Thread::wait(200);
     }
-}
-
-
-
-
-
-void audio_thread(void const *args)
-{
-
-    
-    while(1) {
-        
-        
-//        if (distance > 0.8f && warningFlag == 0) {
-//            warningCounter += 1;
-//        } else if (warningFlag == 1 && distance < 0.8f) {
-//            clearCounter +=1;
-//        }
-//
-//        if (warningCounter >= 3) {
-//            warningFlag = 1;
-//            warningCounter = 0;
-//        } else if (clearCounter >= 3) {
-//            clearCounter = 0;
-//            warningFlag = 0;
-//        }
-//
-        if (warning_flag == 1) {
-            myled2 = 1;
-            FILE *wave_file;
-
-            wave_file=fopen("/sd/Warning_Beep.wav","r");
-            wait(0.001);
-
-            if (wave_file == NULL) {
-                myled1 = 1;
-            } else {
-                myled1 = 0;
-                waver.play(wave_file);
-                fclose(wave_file);
-            }
-        } else {
-            myled2 = 0;
-        }
-        Thread::wait(10);
-
-    }
+   
     
-}
-
-
-int main()
-{
-    
-    
-    PHY_PowerDown();
-    int result = semihost_powerdown();
-    Thread thread1(bluetooth_thread);
-    Thread thread2(audio_thread);
-    
-    //thread2.set_priority(osPriorityRealtime);
-    //thread1.set_priority(osPriorityNormal);
-
-    
-    past_values[0] = 0;
-    past_values[1] = 0;
-    past_values[2] = 0;
-    
-    warning_flag = 0;
-    
-    while(1) {
-        past_values[past_index] = distance;
-        past_index = (past_index + 1) % 3;
-        
-        //Running average
-        float running_sum = 0.0;
-        for (int i = 0; i < 3; i++){
-            running_sum+=past_values[i];        
-        }    
-        float average = running_sum/3.0;
-        
-        //Hysteresis
-        if (average >= 0.6f && warning_flag == 0){
-            warning_flag = 1;
-            //myled2 = 1;   
-
-        } else if (average <= 0.4f && warning_flag == 1){
-            warning_flag = 0;   
-            //myled2 = 0;
-        }
-        
-//        //Set the warning state
-//        if (warning_flag == 1){
-//            myled2 = 1;   
-//        } else {
-//            myled2 = 0;   
-//        }
-        
-        if (distance > 0.6f && average > 0.6f){
-            myled4 = 1;   
-        } else {
-            myled4 = 0;   
-        }
-        
-        Thread::wait(10);
-    }
 
 }