Diff: main.cpp

Revision:

0:ed939452cce3

Child:

2:2710cfd7bc6a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Oct 14 21:54:14 2018 +0000
@@ -0,0 +1,91 @@
+/*
+ES200 Project 2 thread example
+D Evangelista, 2018
+*/
+
+#include "mbed.h"
+#include "rtos.h"
+#include "stdio.h"
+#include "Motor.h"
+#include "Servo.h"
+
+// Declare some stuff
+DigitalIn sw1(p19); // switch for activating motor 
+DigitalIn sw2(p18); // switch for activating servo 
+DigitalOut led1(LED1); // status LED for sw1
+DigitalOut led2(LED2); // status LED for sw2
+DigitalOut heartbeat(LED4); // heartbeat LED
+Motor m(p26,p30,p29); 
+Servo s1(p21);
+Thread m_thread; // NEW IN mbed OS 5, threads are used to (sorta) do multiple things at once
+Thread s1_thread;
+
+void m_callback(void); // This function will be run within the corresponding thread
+void s1_callback(void);
+
+// main() runs in its own thread in the OS
+int main() {
+    // startup things
+    printf("ES200 Project 2 thread example\n");
+    s1.calibrate(0.0009,90.0); // calibrate servo s1 once at startup
+    m.speed(0.0); // set motor speed to zero at startup
+    
+    // start tasks
+    printf("main thread running\n");
+    m_thread.start(callback(m_callback)); // starts the motor thread going
+    s1_thread.start(callback(s1_callback)); // starts the servo thread going
+    
+    // main loop
+    while(1){
+        heartbeat = !heartbeat; // blink heartbeat once a second
+        ThisThread::sleep_for(1000);
+        
+        // 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){
+    /**
+    Callback for executing a simple motor action. When sw1 is high,
+    the motor turns forward, otherwise the motor turns off. 
+    */
+    printf("m_thread running\n");
+    while(1) {
+        if (sw1.read()){
+            led1.write(1); // light a light for debugging purposes
+            m.speed(0.7); // spin motor ahead
+            }
+            else {
+                led1.write(0); 
+                m.speed(0.0); // stop the shaft
+                }
+        ThisThread::sleep_for(200); // this thread executes 5x a second
+    } // while(1)
+} // m_callback()
+    
+    
+    
+    
+void s1_callback(void){
+    /** 
+    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.  
+    */
+    printf("s1_thread running\n");    
+    while(1){
+        if (sw2.read()){
+            led2.write(1); // light a light for debugging purposes
+            s1.write(s1.read()+0.1); // move servo a step to right
+            }
+            else{
+                led2.write(0); 
+                s1.write(s1.read()-0.1); // move servo a step to left
+                }
+        ThisThread::sleep_for(200); // this thread executes 5x a second
+        } // while(1)
+} // s1_callback()