Fa2018-es200-1121-project2-herndon-toss
/
Fa2018-es200-1121-3321-thread-example
Example of using threads to run different actions happening at the same time.
main.cpp
- Committer:
- evangeli
- Date:
- 2018-10-14
- Revision:
- 2:2710cfd7bc6a
- Parent:
- 0:ed939452cce3
- Child:
- 3:68bba10e81aa
File content as of revision 2:2710cfd7bc6a:
/* ES200 Project 2 thread example D Evangelista, 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(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()