main.cpp

00001 /*
00002 ES200 Project 2 thread use
00003 Rock em Sock em 2018
00004 Note that this uses mbed OS 5 vice OS 2. 
00005 */
00006 
00007 #include "mbed.h"
00008 #include "rtos.h"
00009 #include "stdio.h"
00010 #include "Motor.h"
00011 #include "Servo.h"
00012 
00013 // Declare some stuff
00014 DigitalIn sw1(p17); // switch for activating led5
00015 DigitalIn sw2(p16); // switch for activating servo 
00016 DigitalIn sw3(p20); // switch for activating servo2
00017 DigitalIn sw4(p19); // switch for led4
00018 DigitalOut led1(p5); // status LED for motor
00019 DigitalOut led2(p6); // status LED for sw2
00020 DigitalOut led3(p7); // status LED for sw3
00021 DigitalOut led4(p8); // status LED for sw4
00022 DigitalOut led5(p11); //status LED for sw1
00023 DigitalOut heartbeat(LED4); // heartbeat LED adds visual effects
00024 Motor m(p26,p30,p29); 
00025 Servo s1(p21);
00026 Servo s2(p22);
00027 Thread m_thread; // NEW IN mbed OS 5, threads are used to (sorta) do multiple things at once
00028 Thread s1_thread; //creates thread for servo
00029 Thread s2_thread; // creates thread for servo2
00030 
00031 /** Callback for executing a simple motor action. When sw1 is high,
00032  *  the motor turns forward, otherwise the motor turns off.
00033  */
00034 void m_callback(void); // This function will be run within the corresponding thread
00035 
00036 /** Simple callback for servo motion. When sw2 is high, the servo steps right,
00037  *  otherwise it steps left. If it hits the ends it stays there.
00038  */
00039 void s1_callback(void);
00040 
00041 void s2_callback(void);
00042 
00043 // main() runs in its own thread in the OS
00044 int main() {
00045     // startup things
00046     printf("ES200 Project 2 Rockem Sockem\n");
00047     s1.calibrate(0.0009,90.0); // calibrate servo s1 once at startup
00048     s2.calibrate(0.0009,90.0); //calibrate servo s2 once at startup
00049     m.speed(0.0); // set motor speed to zero at startup
00050     
00051     // start tasks
00052     printf("In the left corner: MIDN Slappy weighing 0.02 lbs.\n In the right corner: MIDN Hitme weighing 0.021 lbs.\n");
00053     m_thread.start(callback(m_callback)); // starts the motor thread going
00054     s1_thread.start(callback(s1_callback)); // starts the servo thread going
00055     s2_thread.start(callback(s2_callback)); //starts the servo2 thread going
00056     printf("\"ding ding ding\" Fight!\n");
00057     
00058     // main loop
00059     while(1){
00060         heartbeat = !heartbeat; // blink heartbeat once a second
00061         //ThisThread::sleep_for(1000);
00062         Thread::wait(500+rand()%1000);
00063                 
00064         // motor or servo stuff not needed here because they are
00065         // running in their own threads. 
00066         } // main loop
00067 } // main()
00068 
00069 
00070 
00071 
00072 void m_callback(void){
00073     printf("THE fighters are moving back and forth like dancers!!\n");
00074     while(1) {
00075         
00076             led1.write(1); // light a light for entertaining purposes
00077             m.speed(-0.45); // spin motor ahead to move players together
00078             wait (0.65); //time of motor movement
00079             m.speed(0.0); //stop players when they are close.
00080             wait (3+rand()%5); //let them fight for a random amount of time
00081             led1.write(0); 
00082             m.speed(0.45); // move the players back
00083             wait (1.5); //time of opposite motor movement
00084             
00085             if (sw4.read()) {
00086                 led4.write(1);
00087                 }
00088             if (sw1.read()) {
00089                 led5.write(1);
00090                 }
00091                 
00092         //ThisThread::sleep_for(200); // this thread executes 100x a second
00093         Thread::wait(50); //possibly change to small or erase
00094     } // while(1)
00095 } // m_callback()
00096     
00097     
00098     
00099 void s1_callback(void){
00100     printf("Slappy threw a punch!\n");    
00101     while(1){
00102         if (sw2.read()){
00103             led2.write(1); // light a light for entertaining purposes
00104             s1.write(s1.read()+0.5); // move servo a step to right
00105             }
00106             else{
00107                 led2.write(0); 
00108                 s1.write(0.0); // move servo a step to left
00109                 }
00110         //ThisThread::sleep_for(200); // this thread executes 100x a second
00111         Thread::wait(50); //Not used so that switches move players immediately - - - may have to use so that switches can move independently
00112         } // while(1)
00113 } // s1_callback()
00114 
00115 void s2_callback(void){
00116     printf("Hitme is fighting back!\n");    
00117     while(1){
00118         if (sw3.read()){
00119             led3.write(1); // light a light for entertaining purposes
00120             s2.write(s2.read()+0.5); // move servo a step to right
00121             }
00122             else{
00123                 led3.write(0); 
00124                 s2.write(0.0); // move servo a step to left
00125                 }
00126         //ThisThread::sleep_for(200); // this thread executes 100x a second
00127         Thread::wait(50); //possibly change
00128         } // while(1)
00129 } // s2_callback()