Example of using threads to run different actions happening at the same time.

Dependencies:   Motor Servo

Fork of Fa2018-es200-1121-3321-thread-example by Fa2018-es200-1121-project2-herndon-toss



File content as of revision 7:b7257f01ced7:

ES200 Project 2 thread use
Rock em Sock em 2018
Note that this uses mbed OS 5 vice OS 2. 

#include "mbed.h"
#include "rtos.h"
#include "stdio.h"
#include "Motor.h"
#include "Servo.h"

// Declare some stuff
DigitalIn sw1(p18); // switch for activating motor 
DigitalIn sw2(p16); // switch for activating servo 
DigitalIn sw3(p20); // switch for activating servo2
DigitalOut led1(LED1); // status LED for sw1
DigitalOut led2(LED2); // status LED for sw2
DigitalOut led3(LED3); // status LED for sw3
DigitalOut heartbeat(LED4); // heartbeat LED adds visual effects
Motor m(p26,p30,p29); 
Servo s1(p21);
Servo s2(p22);
Thread m_thread; // NEW IN mbed OS 5, threads are used to (sorta) do multiple things at once
Thread s1_thread; //creates thread for servo
Thread s2_thread; // creates thread for servo2

/** Callback for executing a simple motor action. When sw1 is high,
 *  the motor turns forward, otherwise the motor turns off.
void m_callback(void); // This function will be run within the corresponding thread

/** Simple callback for servo motion. When sw2 is high, the servo steps right,
 *  otherwise it steps left. If it hits the ends it stays there.
void s1_callback(void);

void s2_callback(void);

// main() runs in its own thread in the OS
int main() {
    // startup things
    printf("ES200 Project 2 Rockem Sockem\n");
    s1.calibrate(0.0009,90.0); // calibrate servo s1 once at startup
    s2.calibrate(0.0009,90.0); //calibrate servo s2 once at startup
    m.speed(0.0); // set motor speed to zero at startup
    // start tasks
    printf("In the left corner: MIDN Slappy weighing 0.02 lbs.\n In the right corner: MIDN Hitme weighing 0.021 lbs.\n");
    m_thread.start(callback(m_callback)); // starts the motor thread going
    s1_thread.start(callback(s1_callback)); // starts the servo thread going
    s2_thread.start(callback(s2_callback)); //starts the servo2 thread going
    printf("\"ding ding ding\" Fight!\n");
    // main loop
        heartbeat = !heartbeat; // blink heartbeat once a second
        // I don't have to do my motor or servo stuff here because they are
        // running in their own threads. 
        } // main loop
} // main()

void m_callback(void){
    printf("THE fighters are moving back and forth like dancers!!\n");
    while(1) {
            led1.write(1); // light a light for entertaining purposes
            m.speed(0.5); // spin motor ahead to move players together
            wait (0.7); //time of motor movement
            m.speed(0.0); //stop players when they are close.
            wait (1+rand()%5); //let them fight for a random amount of time
            m.speed(-0.5); // move the players back
            wait (0.7); //time of opposite motor movement
        //ThisThread::sleep_for(200); // this thread executes 20x a second
       // Thread::wait(50); //possibly change to small or erase
    } // while(1)
} // m_callback()
void s1_callback(void){
    printf("Slappy threw a punch!\n");    
        if (sw2.read()){
            led2.write(1); // light a light for entertaining purposes
            s1.write(s1.read()+0.5); // move servo a step to right
                s1.write(sw1.read()-0.5); // move servo a step to left
        //ThisThread::sleep_for(200); // this thread executes 20x a second
       // Thread::wait(50); //possibly change
        } // while(1)
} // s1_callback()

void s2_callback(void){
    printf("Hitme is fighting back!\n");    
        if (sw3.read()){
            led3.write(1); // light a light for entertaining purposes
            s2.write(s2.read()+0.5); // move servo a step to right
                s2.write(s2.read()-0.5); // move servo a step to left
        //ThisThread::sleep_for(200); // this thread executes 20x a second
       // Thread::wait(50); //possibly change
        } // while(1)
} // s2_callback()