Example of using threads to run different actions happening at the same time.
Fork of Fa2018-es200-1121-3321-thread-example-rockem by
main.cpp
00001 /* 00002 ES200 Project 2 thread example 00003 D Evangelista, 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(p19); // switch for activating motor 00015 DigitalIn sw2(p18); // switch for activating servo 00016 DigitalOut led1(LED1); // status LED for sw1 00017 DigitalOut led2(LED2); // status LED for sw2 00018 DigitalOut heartbeat(LED4); // heartbeat LED 00019 Motor m(p26,p30,p29); 00020 Servo s1(p21); 00021 Thread m_thread; // NEW IN mbed OS 5, threads are used to (sorta) do multiple things at once 00022 Thread s1_thread; 00023 00024 /** Callback for executing a simple motor action. When sw1 is high, 00025 * the motor turns forward, otherwise the motor turns off. 00026 */ 00027 void m_callback(void); // This function will be run within the corresponding thread 00028 00029 /** Simple callback for servo motion. When sw2 is high, the servo steps right, 00030 * otherwise it steps left. If it hits the ends it stays there. 00031 */ 00032 void s1_callback(void); 00033 00034 // main() runs in its own thread in the OS 00035 int main() { 00036 // startup things 00037 printf("ES200 Project 2 thread example\n"); 00038 s1.calibrate(0.0009,90.0); // calibrate servo s1 once at startup 00039 m.speed(0.0); // set motor speed to zero at startup 00040 00041 // start tasks 00042 printf("main thread running\n"); 00043 m_thread.start(callback(m_callback)); // starts the motor thread going 00044 s1_thread.start(callback(s1_callback)); // starts the servo thread going 00045 00046 // main loop 00047 while(1){ 00048 heartbeat = !heartbeat; // blink heartbeat once a second 00049 //ThisThread::sleep_for(1000); 00050 Thread::wait(1000); 00051 00052 // I don't have to do my motor or servo stuff here because they are 00053 // running in their own threads. 00054 } // main loop 00055 } // main() 00056 00057 00058 00059 00060 void m_callback(void){ 00061 printf("m_thread running\n"); 00062 while(1) { 00063 if (sw1.read()){ 00064 led1.write(1); // light a light for debugging purposes 00065 m.speed(0.7); // spin motor ahead 00066 } 00067 else { 00068 led1.write(0); 00069 m.speed(0.0); // stop the shaft 00070 } 00071 //ThisThread::sleep_for(200); // this thread executes 5x a second 00072 Thread::wait(200); 00073 } // while(1) 00074 } // m_callback() 00075 00076 00077 00078 void s1_callback(void){ 00079 printf("s1_thread running\n"); 00080 while(1){ 00081 if (sw2.read()){ 00082 led2.write(1); // light a light for debugging purposes 00083 s1.write(s1.read()+0.1); // move servo a step to right 00084 } 00085 else{ 00086 led2.write(0); 00087 s1.write(s1.read()-0.1); // move servo a step to left 00088 } 00089 //ThisThread::sleep_for(200); // this thread executes 5x a second 00090 Thread::wait(200); 00091 } // while(1) 00092 } // s1_callback()
Generated on Tue Jul 12 2022 19:29:52 by 1.7.2