Penn Electric Racing / Mbed 2 deprecated REVO_Updated_Steering

The Code Repository for the REV0 Steering Wheel.

Dependencies:   CANBuffer KS0108_fork mbed-rtos mbed CAN Addresses

Fork of REVO_Updated_Steering by Penn Electric

Steering.cpp@22:ab33195882e3, 2014-11-04 (annotated)

Committer:
tmccurbin
Date:
Tue Nov 04 08:12:34 2014 +0000
Revision:
22:ab33195882e3
Parent:
21:56890c41ecf1
Child:
25:fc63a5bffffc
Implemented code to differentiate button-holding

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kiran_mbed 0:313541d8f8be 1 #include "Steering.h"
kiran_mbed 0:313541d8f8be 2
tmccurbin 22:ab33195882e3 3 #define Reset_Threshold 32000
tmccurbin 22:ab33195882e3 4 #define Drive_Threshold 32000
tmccurbin 22:ab33195882e3 5 int BL_Button_Status = 0;
tmccurbin 22:ab33195882e3 6 int BR_Button_Status = 0;
tmccurbin 22:ab33195882e3 7
kiran_mbed 0:313541d8f8be 8 void HomeScreen()
kiran_mbed 0:313541d8f8be 9 {
palimar 21:56890c41ecf1 10
kiran_mbed 0:313541d8f8be 11 ftc rcv;
kiran_mbed 0:313541d8f8be 12 rcv.FLOAT=0.0;
kiran_mbed 0:313541d8f8be 13 char dat[4];
kiran_mbed 0:313541d8f8be 14 float power_ratio=0.0;
kiran_mbed 0:313541d8f8be 15 printf("Homescreen\n\r");
kiran_mbed 0:313541d8f8be 16 display.ClearScreen();
kiran_mbed 0:313541d8f8be 17 display.SelectFont(Arial12,BLACK,ReadData);
kiran_mbed 0:313541d8f8be 18 display.GotoXY(0,0);
kiran_mbed 0:313541d8f8be 19 display.PrintString(" HOME SCREEN");
kiran_mbed 0:313541d8f8be 20 while( !(biSWTL.read() || biSWTR.read() || biSWBR.read()) )
kiran_mbed 0:313541d8f8be 21 {
palimar 21:56890c41ecf1 22 CANMessage Rxmsg;
palimar 16:d2953809fb31 23 if(CAN_Steering_Buffer.rxRead(Rxmsg))
kiran_mbed 0:313541d8f8be 24 {
kiran_mbed 0:313541d8f8be 25 for(int i=0; i<4; i++)
kiran_mbed 0:313541d8f8be 26 rcv.C_FLOAT[i]=Rxmsg.data[i];
kiran_mbed 0:313541d8f8be 27 if(Rxmsg.id == BATTERY_VOLTAGE_ID)
kiran_mbed 0:313541d8f8be 28 {
kiran_mbed 0:313541d8f8be 29 display.GotoXY(0,16);
kiran_mbed 0:313541d8f8be 30 display.PrintString(" PV: ");
kiran_mbed 0:313541d8f8be 31 sprintf(dat,"%2.2f",rcv.FLOAT);
kiran_mbed 0:313541d8f8be 32 display.PrintString(dat);
kiran_mbed 0:313541d8f8be 33 display.PrintString("V");
kiran_mbed 0:313541d8f8be 34 }
kiran_mbed 0:313541d8f8be 35 if(Rxmsg.id == BATTERY_POWER_ID)
kiran_mbed 0:313541d8f8be 36 {
kiran_mbed 0:313541d8f8be 37 display.GotoXY(64,16);
kiran_mbed 0:313541d8f8be 38 display.PrintString(" PP: ");
kiran_mbed 0:313541d8f8be 39 power_ratio=rcv.FLOAT/10000;
kiran_mbed 0:313541d8f8be 40 sprintf(dat,"%2.2f",power_ratio);
kiran_mbed 0:313541d8f8be 41 display.PrintString(dat);
kiran_mbed 0:313541d8f8be 42 display.PrintString("kW");
kiran_mbed 0:313541d8f8be 43 }
kiran_mbed 0:313541d8f8be 44 if(Rxmsg.id == PCM_STATE_ID)
kiran_mbed 0:313541d8f8be 45 {
kiran_mbed 0:313541d8f8be 46 display.GotoXY(0,32);
kiran_mbed 0:313541d8f8be 47 display.PrintString(" STATE: ");
kiran_mbed 0:313541d8f8be 48 display.PrintNumber(rcv.FLOAT);
kiran_mbed 0:313541d8f8be 49 }
kiran_mbed 0:313541d8f8be 50 }
kiran_mbed 0:313541d8f8be 51 }
kiran_mbed 0:313541d8f8be 52 return;
kiran_mbed 0:313541d8f8be 53 }
kiran_mbed 0:313541d8f8be 54
kiran_mbed 0:313541d8f8be 55 void AMSScreen1()
kiran_mbed 0:313541d8f8be 56 {
kiran_mbed 0:313541d8f8be 57 CANMessage Rxmsg;
kiran_mbed 0:313541d8f8be 58 ftc rcv;
kiran_mbed 0:313541d8f8be 59 char dat[4];
kiran_mbed 0:313541d8f8be 60 rcv.FLOAT=0.0;
kiran_mbed 0:313541d8f8be 61 printf("AMSScreen1");
kiran_mbed 0:313541d8f8be 62 display.ClearScreen();
kiran_mbed 0:313541d8f8be 63 display.SelectFont(Arial12,BLACK,ReadData);
kiran_mbed 0:313541d8f8be 64 while( !(biSWTL.read() || biSWTR.read() || biSWBL.read()) )
kiran_mbed 0:313541d8f8be 65 {
kiran_mbed 0:313541d8f8be 66 printf("iN LOOP1");
palimar 16:d2953809fb31 67 if(CAN_Steering_Buffer.rxRead(Rxmsg))
kiran_mbed 0:313541d8f8be 68 {
kiran_mbed 0:313541d8f8be 69 for(int i=0; i<4; i++)
kiran_mbed 0:313541d8f8be 70 rcv.C_FLOAT[i]=Rxmsg.data[i];
kiran_mbed 0:313541d8f8be 71 if(Rxmsg.id == BATTERY_VOLTAGE_ID)
kiran_mbed 0:313541d8f8be 72 {
kiran_mbed 0:313541d8f8be 73 display.GotoXY(0,0);
kiran_mbed 0:313541d8f8be 74 display.PrintString(" pv: ");
kiran_mbed 0:313541d8f8be 75 sprintf(dat,"%2.2f",rcv.FLOAT);
kiran_mbed 0:313541d8f8be 76 display.PrintString(dat);
kiran_mbed 0:313541d8f8be 77 }
kiran_mbed 0:313541d8f8be 78 if(Rxmsg.id == BATTERY_POWER_ID)
kiran_mbed 0:313541d8f8be 79 {
kiran_mbed 0:313541d8f8be 80 display.GotoXY(0,16);
kiran_mbed 0:313541d8f8be 81 display.PrintString(" pp: ");
kiran_mbed 0:313541d8f8be 82 sprintf(dat,"%2.2f",rcv.FLOAT);
kiran_mbed 0:313541d8f8be 83 display.PrintString(dat);
kiran_mbed 0:313541d8f8be 84 }
kiran_mbed 0:313541d8f8be 85 if(Rxmsg.id == BATTERY_CURRENT_ID)
kiran_mbed 0:313541d8f8be 86 {
kiran_mbed 0:313541d8f8be 87 display.GotoXY(0,32);
kiran_mbed 0:313541d8f8be 88 display.PrintString(" pi: ");
kiran_mbed 0:313541d8f8be 89 sprintf(dat,"%2.2f",rcv.FLOAT);
kiran_mbed 0:313541d8f8be 90 display.PrintString(dat);
kiran_mbed 0:313541d8f8be 91 }
kiran_mbed 0:313541d8f8be 92
kiran_mbed 0:313541d8f8be 93 //Column 2
kiran_mbed 0:313541d8f8be 94 if(Rxmsg.id == BATTERY_MIN_CELLVOLTAGE_ID)
kiran_mbed 0:313541d8f8be 95 {
kiran_mbed 0:313541d8f8be 96 display.GotoXY(49,0);
kiran_mbed 0:313541d8f8be 97 display.PrintString(" min cell V: ");
kiran_mbed 0:313541d8f8be 98 sprintf(dat,"%2.2f",rcv.FLOAT);
kiran_mbed 0:313541d8f8be 99 display.PrintString(dat);
kiran_mbed 0:313541d8f8be 100 }
kiran_mbed 0:313541d8f8be 101 if(Rxmsg.id == BATTERY_MAX_CELLVOLTAGE_ID)
kiran_mbed 0:313541d8f8be 102 {
kiran_mbed 0:313541d8f8be 103 display.GotoXY(49,16);
kiran_mbed 0:313541d8f8be 104 display.PrintString(" max cell V: ");
kiran_mbed 0:313541d8f8be 105 sprintf(dat,"%2.2f",rcv.FLOAT);
kiran_mbed 0:313541d8f8be 106 display.PrintString(dat);
kiran_mbed 0:313541d8f8be 107 }
kiran_mbed 0:313541d8f8be 108 if(Rxmsg.id == BATTERY_AVG_CELLVOLTAGE_ID)
kiran_mbed 0:313541d8f8be 109 {
kiran_mbed 0:313541d8f8be 110 display.GotoXY(49,32);
kiran_mbed 0:313541d8f8be 111 display.PrintString(" avg cell V: ");
kiran_mbed 0:313541d8f8be 112 sprintf(dat,"%2.2f",rcv.FLOAT);
kiran_mbed 0:313541d8f8be 113 display.PrintString(dat);
kiran_mbed 0:313541d8f8be 114 }
kiran_mbed 0:313541d8f8be 115 }
kiran_mbed 0:313541d8f8be 116 screen=1;
kiran_mbed 0:313541d8f8be 117 }
kiran_mbed 0:313541d8f8be 118 return;
kiran_mbed 0:313541d8f8be 119 }
kiran_mbed 0:313541d8f8be 120
kiran_mbed 0:313541d8f8be 121 void AMSScreen2()
kiran_mbed 0:313541d8f8be 122 {
kiran_mbed 0:313541d8f8be 123 CANMessage Rxmsg;
kiran_mbed 0:313541d8f8be 124 ftc rcv;
kiran_mbed 0:313541d8f8be 125 char dat[4];
kiran_mbed 0:313541d8f8be 126 //ftc send;
kiran_mbed 0:313541d8f8be 127 rcv.FLOAT=0.0;
kiran_mbed 0:313541d8f8be 128 //send.FLOAT=65.6432;
kiran_mbed 0:313541d8f8be 129 printf("AMSScreen2\n\r");
kiran_mbed 0:313541d8f8be 130 display.ClearScreen();
kiran_mbed 0:313541d8f8be 131 display.SelectFont(Arial12,BLACK,ReadData);
kiran_mbed 0:313541d8f8be 132 while( !(biSWTL.read() || biSWTR.read() || biSWBL.read()) )
kiran_mbed 0:313541d8f8be 133 {
kiran_mbed 0:313541d8f8be 134 printf("iN LOOP2");
palimar 16:d2953809fb31 135 if(CAN_Steering_Buffer.rxRead(Rxmsg))
kiran_mbed 0:313541d8f8be 136 {
kiran_mbed 0:313541d8f8be 137 for(int i=0; i<4; i++)
kiran_mbed 0:313541d8f8be 138 rcv.C_FLOAT[i]=Rxmsg.data[i];
kiran_mbed 0:313541d8f8be 139 if(Rxmsg.id == BATTERY_MIN_CELLTEMPERATURE_ID)
kiran_mbed 0:313541d8f8be 140 {
kiran_mbed 0:313541d8f8be 141 display.GotoXY(0,0);
kiran_mbed 0:313541d8f8be 142 display.PrintString(" mn cll T: ");
kiran_mbed 0:313541d8f8be 143 sprintf(dat,"%2.2f",rcv.FLOAT);
kiran_mbed 0:313541d8f8be 144 display.PrintString(dat);
kiran_mbed 0:313541d8f8be 145 }
kiran_mbed 0:313541d8f8be 146 if(Rxmsg.id == BATTERY_MAX_CELLTEMPERATURE_ID)
kiran_mbed 0:313541d8f8be 147 {
kiran_mbed 0:313541d8f8be 148 display.GotoXY(0,16);
kiran_mbed 0:313541d8f8be 149 display.PrintString(" mx cll T: ");
kiran_mbed 0:313541d8f8be 150 sprintf(dat,"%2.2f",rcv.FLOAT);
kiran_mbed 0:313541d8f8be 151 display.PrintString(dat);
kiran_mbed 0:313541d8f8be 152 }
kiran_mbed 0:313541d8f8be 153 if(Rxmsg.id == BATTERY_AVG_CELLTEMPERATURE_ID)
kiran_mbed 0:313541d8f8be 154 {
kiran_mbed 0:313541d8f8be 155 display.GotoXY(0,32);
kiran_mbed 0:313541d8f8be 156 display.PrintString(" avg cell T: ");
kiran_mbed 0:313541d8f8be 157 sprintf(dat,"%2.2f",rcv.FLOAT);
kiran_mbed 0:313541d8f8be 158 display.PrintString(dat);
kiran_mbed 0:313541d8f8be 159 }
kiran_mbed 0:313541d8f8be 160
kiran_mbed 0:313541d8f8be 161 //Column 2
kiran_mbed 0:313541d8f8be 162 if(Rxmsg.id == AMS_BATTERY_STATE)
kiran_mbed 0:313541d8f8be 163 {
kiran_mbed 0:313541d8f8be 164 if((rcv.C_FLOAT[0] & 0xC0) == 0xC0)
kiran_mbed 0:313541d8f8be 165 {
kiran_mbed 0:313541d8f8be 166 display.GotoXY(70,0);
kiran_mbed 0:313541d8f8be 167 display.PrintString(" AIRS: ");
kiran_mbed 0:313541d8f8be 168 display.PrintString("CLOS");
kiran_mbed 0:313541d8f8be 169 }
kiran_mbed 0:313541d8f8be 170 else
kiran_mbed 0:313541d8f8be 171 {
kiran_mbed 0:313541d8f8be 172 display.GotoXY(70,0);
kiran_mbed 0:313541d8f8be 173 display.PrintString(" AIRS: ");
kiran_mbed 0:313541d8f8be 174 display.PrintString("OPEN");
kiran_mbed 0:313541d8f8be 175 }
kiran_mbed 0:313541d8f8be 176
kiran_mbed 0:313541d8f8be 177 if((rcv.C_FLOAT[0] & 0x04) == 0x04)
kiran_mbed 0:313541d8f8be 178 {
kiran_mbed 0:313541d8f8be 179 display.GotoXY(70,16);
kiran_mbed 0:313541d8f8be 180 display.PrintString(" Prchrg: ");
kiran_mbed 0:313541d8f8be 181 display.PrintString("on");
kiran_mbed 0:313541d8f8be 182 }
kiran_mbed 0:313541d8f8be 183 else
kiran_mbed 0:313541d8f8be 184 {
kiran_mbed 0:313541d8f8be 185 display.GotoXY(70,16);
kiran_mbed 0:313541d8f8be 186 display.PrintString(" Prchrg: ");
kiran_mbed 0:313541d8f8be 187 display.PrintString("off");
kiran_mbed 0:313541d8f8be 188 }
kiran_mbed 0:313541d8f8be 189 }
kiran_mbed 0:313541d8f8be 190 if(Rxmsg.id == AMS_BATTERY_STATE)
kiran_mbed 0:313541d8f8be 191 {
kiran_mbed 0:313541d8f8be 192 display.GotoXY(70,16);
kiran_mbed 0:313541d8f8be 193 display.PrintString(" Prchrg: ");
kiran_mbed 0:313541d8f8be 194 display.PrintString("off");
kiran_mbed 0:313541d8f8be 195 }
kiran_mbed 0:313541d8f8be 196 }
kiran_mbed 0:313541d8f8be 197 screen=0;
kiran_mbed 0:313541d8f8be 198 }
kiran_mbed 0:313541d8f8be 199 return;
kiran_mbed 0:313541d8f8be 200 }
kiran_mbed 0:313541d8f8be 201
palimar 6:99e754ac888f 202 void display_speed_data(void const *args) {
palimar 6:99e754ac888f 203 while (true) {
palimar 6:99e754ac888f 204 display.GotoXY(10,16);
palimar 6:99e754ac888f 205 display.SelectFont(Arial_14,BLACK,ReadData);
palimar 6:99e754ac888f 206 char buf[10];
palimar 6:99e754ac888f 207 int a = rand()%100;
palimar 6:99e754ac888f 208 sprintf(buf, "%d", a);
palimar 6:99e754ac888f 209 display.PrintString("Speed: ");
palimar 6:99e754ac888f 210 display.PrintString(buf);
palimar 6:99e754ac888f 211 display.PrintString("mph");
palimar 6:99e754ac888f 212 }
palimar 6:99e754ac888f 213 }
palimar 6:99e754ac888f 214
palimar 6:99e754ac888f 215
tmccurbin 22:ab33195882e3 216 void Drive_Request()
kiran_mbed 0:313541d8f8be 217 {
palimar 13:1f05dcd9ae0e 218
palimar 13:1f05dcd9ae0e 219 char drive_status_request = !drive_status;
palimar 13:1f05dcd9ae0e 220 char * status_string;
palimar 9:e946cafa3cae 221
palimar 13:1f05dcd9ae0e 222 if(drive_status_request){
palimar 13:1f05dcd9ae0e 223 status_string = "ON";
palimar 13:1f05dcd9ae0e 224 }
palimar 13:1f05dcd9ae0e 225 else{
palimar 13:1f05dcd9ae0e 226 status_string = "OFF";
palimar 13:1f05dcd9ae0e 227 }
palimar 13:1f05dcd9ae0e 228
palimar 13:1f05dcd9ae0e 229 for(int i = 0; i < 10; i++){
palimar 16:d2953809fb31 230 CAN_Steering_Buffer.txWrite(Txmsg_drive_status_request);
palimar 13:1f05dcd9ae0e 231 }
palimar 6:99e754ac888f 232
tmccurbin 22:ab33195882e3 233 //Button Press code
tmccurbin 22:ab33195882e3 234 if (BL_Button_Status == 0)
tmccurbin 22:ab33195882e3 235 {
tmccurbin 22:ab33195882e3 236 display.ClearScreen();
tmccurbin 22:ab33195882e3 237 display.SelectFont(Arial12,BLACK,ReadData);
tmccurbin 22:ab33195882e3 238 display.GotoXY(26,16);
tmccurbin 22:ab33195882e3 239 display.PrintString("Drive Initiated");
tmccurbin 22:ab33195882e3 240 printf("Drive Initiated\n\r");
tmccurbin 22:ab33195882e3 241 BL_Button_Status = BL_Button_Status + 1;
tmccurbin 22:ab33195882e3 242 }
tmccurbin 22:ab33195882e3 243 else
tmccurbin 22:ab33195882e3 244 {
tmccurbin 22:ab33195882e3 245 BL_Button_Status = BL_Button_Status + 1;
tmccurbin 22:ab33195882e3 246 }
palimar 9:e946cafa3cae 247
palimar 21:56890c41ecf1 248 printf("%s\n\r", status_string);
kiran_mbed 0:313541d8f8be 249 return;
kiran_mbed 0:313541d8f8be 250 }
kiran_mbed 0:313541d8f8be 251
palimar 9:e946cafa3cae 252 void reset()
kiran_mbed 0:313541d8f8be 253 {
tmccurbin 22:ab33195882e3 254 if (BR_Button_Status == 0)
tmccurbin 22:ab33195882e3 255 {
tmccurbin 22:ab33195882e3 256 display.ClearScreen();
tmccurbin 22:ab33195882e3 257 display.SelectFont(Arial12,BLACK,ReadData);
tmccurbin 22:ab33195882e3 258 display.GotoXY(16,16);
tmccurbin 22:ab33195882e3 259 display.PrintString("Hold To Reset");
tmccurbin 22:ab33195882e3 260 printf("Hold to reset\n\r");
tmccurbin 22:ab33195882e3 261 BR_Button_Status = BR_Button_Status + 1;
tmccurbin 22:ab33195882e3 262 }
tmccurbin 22:ab33195882e3 263 else if (BR_Button_Status < Reset_Threshold)
tmccurbin 22:ab33195882e3 264 {
tmccurbin 22:ab33195882e3 265 BR_Button_Status = BR_Button_Status + 1;
tmccurbin 22:ab33195882e3 266 }
tmccurbin 22:ab33195882e3 267 else if (BR_Button_Status >= Reset_Threshold)
tmccurbin 22:ab33195882e3 268 {
tmccurbin 22:ab33195882e3 269 for (int i = 0; i < 10; i ++)
tmccurbin 22:ab33195882e3 270 {
tmccurbin 22:ab33195882e3 271 CAN_Steering_Buffer.txWriteDirect(Txmsg_reset);
tmccurbin 22:ab33195882e3 272 printf("Reset Initiated\n\r");
tmccurbin 22:ab33195882e3 273 }
tmccurbin 22:ab33195882e3 274 BR_Button_Status = BR_Button_Status + 1;
tmccurbin 22:ab33195882e3 275 mbed_reset();
tmccurbin 22:ab33195882e3 276 }
kiran_mbed 0:313541d8f8be 277 }
kiran_mbed 0:313541d8f8be 278
kiran_mbed 0:313541d8f8be 279 void Powerstream()
kiran_mbed 0:313541d8f8be 280 {
kiran_mbed 0:313541d8f8be 281 CANMessage Rxmsg;
kiran_mbed 0:313541d8f8be 282 float power_ratio;
kiran_mbed 0:313541d8f8be 283 ftc rcv;
kiran_mbed 0:313541d8f8be 284 rcv.FLOAT=0.0;
palimar 16:d2953809fb31 285 if(CAN_Steering_Buffer.rxRead(Rxmsg))
kiran_mbed 0:313541d8f8be 286 {
kiran_mbed 0:313541d8f8be 287 if(Rxmsg.id == BATTERY_POWER_ID)
kiran_mbed 0:313541d8f8be 288 {
palimar 6:99e754ac888f 289 for(int i=0; i<4; i++){
kiran_mbed 0:313541d8f8be 290 rcv.C_FLOAT[i]=Rxmsg.data[i];
palimar 6:99e754ac888f 291 }
kiran_mbed 0:313541d8f8be 292 power_ratio=rcv.FLOAT/80000;
kiran_mbed 0:313541d8f8be 293 ledstream.write(power_ratio);
kiran_mbed 0:313541d8f8be 294 }
kiran_mbed 0:313541d8f8be 295 }
kiran_mbed 0:313541d8f8be 296 }
kiran_mbed 0:313541d8f8be 297
kiran_mbed 0:313541d8f8be 298 void Init()
kiran_mbed 0:313541d8f8be 299 {
kiran_mbed 0:313541d8f8be 300 pc.baud(230400);
palimar 9:e946cafa3cae 301 drive_status = 0;
palimar 13:1f05dcd9ae0e 302 drive_status_request = 1;
palimar 9:e946cafa3cae 303 reset_body = 0;
kiran_mbed 0:313541d8f8be 304 ledstream.write(0);
kiran_mbed 0:313541d8f8be 305 call_ledstream.attach(&Powerstream,0.1);
kiran_mbed 0:313541d8f8be 306 }
kiran_mbed 0:313541d8f8be 307
palimar 21:56890c41ecf1 308 void update_vars(void const *args) {
palimar 21:56890c41ecf1 309 while (true) {
palimar 21:56890c41ecf1 310 CANMessage Rxmsg;
palimar 21:56890c41ecf1 311 if(CAN_Steering_Buffer.rxRead(Rxmsg)){
palimar 21:56890c41ecf1 312 if(Rxmsg.id == PCM_STATE_ID){
palimar 21:56890c41ecf1 313 ds_mutex.lock();
palimar 21:56890c41ecf1 314 drive_status = Rxmsg.data[0];
palimar 21:56890c41ecf1 315 ds_mutex.unlock();
palimar 21:56890c41ecf1 316 }
palimar 21:56890c41ecf1 317 }
palimar 21:56890c41ecf1 318 }
palimar 21:56890c41ecf1 319 }
palimar 21:56890c41ecf1 320
kiran_mbed 0:313541d8f8be 321 int main()
kiran_mbed 0:313541d8f8be 322 {
palimar 4:a4fb060e7840 323 // Init all
kiran_mbed 0:313541d8f8be 324 Init();
kiran_mbed 0:313541d8f8be 325 wait(0.1);
palimar 4:a4fb060e7840 326
palimar 4:a4fb060e7840 327 //Init Display
kiran_mbed 0:313541d8f8be 328 display.GotoXY(10,16);
kiran_mbed 0:313541d8f8be 329 display.SelectFont(Arial_14,BLACK,ReadData);
kiran_mbed 0:313541d8f8be 330 display.PrintString("Penn Electric Racing");
palimar 6:99e754ac888f 331
palimar 21:56890c41ecf1 332 Thread update_thread(update_vars);
palimar 21:56890c41ecf1 333
palimar 6:99e754ac888f 334 wait(1);
palimar 4:a4fb060e7840 335
palimar 4:a4fb060e7840 336 // Start to read buttons on main thread
kiran_mbed 0:313541d8f8be 337
kiran_mbed 0:313541d8f8be 338 while(1)
kiran_mbed 0:313541d8f8be 339 {
kiran_mbed 0:313541d8f8be 340 if(biSWBL.read())
kiran_mbed 0:313541d8f8be 341 {
tmccurbin 22:ab33195882e3 342 Drive_Request;
kiran_mbed 0:313541d8f8be 343 }
tmccurbin 22:ab33195882e3 344 else if(biSWBR.read())
kiran_mbed 0:313541d8f8be 345 {
palimar 9:e946cafa3cae 346 reset();
kiran_mbed 0:313541d8f8be 347 }
tmccurbin 22:ab33195882e3 348 else
tmccurbin 22:ab33195882e3 349 {
tmccurbin 22:ab33195882e3 350 BR_Button_Status = 0;
tmccurbin 22:ab33195882e3 351 BL_Button_Status = 0;
tmccurbin 22:ab33195882e3 352 }
tmccurbin 22:ab33195882e3 353 printf("BL %d BR %d \n", 'BL_Button_Status', 'BR_Button_Status');
kiran_mbed 0:313541d8f8be 354 }
kiran_mbed 0:313541d8f8be 355 }