Revision 8:24b057cbcb53, committed 2016-06-10

Comitter:

sbouber1

Date:

Fri Jun 10 12:38:54 2016 +0000

Parent:

6:067e999b9c6e

Commit message:

Started threading stuff

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Controller.h	Fri Jun 10 12:38:54 2016 +0000
@@ -0,0 +1,10 @@
+#ifndef __CONTROLLER_H__
+#define __CONTROLLER_H__
+
+class Controller {
+    public:
+        virtual void update() = 0;
+        virtual float getValue() = 0;   
+};
+
+#endif
\ No newline at end of file

--- a/MotorController.cpp	Fri Jun 10 10:53:56 2016 +0000
+++ b/MotorController.cpp	Fri Jun 10 12:38:54 2016 +0000
@@ -26,7 +26,7 @@
         stpr_mtr1.settings(1 / MICROSTEPS_PER_STEP, LEFT, i);
     }
     
-    wait(3);
+    /*wait(3);
     
     for (int i = 500; i < MAX_SPEED; i += 5) {
         stpr_mtr1.settings(1 / MICROSTEPS_PER_STEP, RIGHT, i);
@@ -39,7 +39,7 @@
     for (int i = 8000; i > 500; i -= 5) {
         stpr_mtr1.settings(1 / MICROSTEPS_PER_STEP, RIGHT, i);
     }
-    wait(3);
+    wait(3);*/
 }
 
 void MotorController::test2()

--- a/SalinityController.cpp	Fri Jun 10 10:53:56 2016 +0000
+++ b/SalinityController.cpp	Fri Jun 10 12:38:54 2016 +0000
@@ -13,12 +13,21 @@
     float analogin_value = 0;
     float ppt = 0;
     
+    Timer t;
+    
+    t.start();
+    
     // Read 0-1.0 value
     for(int i = 0; i < N; i++)
     {
         analogin_value += salinity_sensor.read();
     }
-    // Average 10 sensor values
+    
+    t.stop();
+    
+    printf("We did %d averages of salinity in %d ms\n", N, t.read_ms());
+    
+    // Average N sensor values
     analogin_value /= (float) N;
     
     ppt = analoginToPPT(analogin_value);

--- a/TemperatureController.cpp	Fri Jun 10 10:53:56 2016 +0000
+++ b/TemperatureController.cpp	Fri Jun 10 12:38:54 2016 +0000
@@ -1,4 +1,5 @@
 #include "TemperatureController.h"
+#include "rtos.h"
 
 AnalogIn temperature_sensor(p20);
 DigitalOut heater(p18);
@@ -8,18 +9,37 @@
     printf("Initiate Temperature Controller\r\n");
 }
 
+
+float TemperatureController::getValue() {
+    return this->temperature;    
+}
+
+void TemperatureController::update() {
+    this->temperature = readSensor();
+}
+
 // Function reads sensor values and averages N sensor values
 float TemperatureController::readSensor()
 {
     float analogin_value = 0;
     float temperature = 0;
     
+    Timer t;
+    
+    t.start();
+    
     // Read 0-1.0 value
     for(int i = 0; i < N; i++)
     {
         analogin_value += temperature_sensor.read();
+        Thread::wait(100);
     }
-    // Average 10 sensor values
+    
+    t.stop();
+    
+    printf("We did %d averages of temperature in %d ms\r\n", N, t.read_ms());
+    
+    // Average N sensor values
     analogin_value /= (float) N;
     
     temperature = analoginToCelsius(analogin_value);
@@ -66,15 +86,6 @@
     printf("Temperature: %f Celsius\r\n", temperature);
 }
 
-float TemperatureController::getTemperature()
-{
-    float temperature = 0;
-    
-    temperature = readSensor();
-    
-    return temperature;
-}
-
 float TemperatureController::getOffset(float voltage)
 {
     float denominator_voltage, numerator_voltage, ratio, interpolation;
@@ -114,9 +125,11 @@
 {
     if(readSensor() < 32.0f)
     {
-        heater = 1;
+        //heater = 1;
+        printf("Should set heater to 1\r\n");
     } else {
-        heater = 0;
+        //heater = 0;
+        printf("Should set heater to 0\r\n");
     }
         
 }
\ No newline at end of file

--- a/TemperatureController.h	Fri Jun 10 10:53:56 2016 +0000
+++ b/TemperatureController.h	Fri Jun 10 12:38:54 2016 +0000
@@ -4,21 +4,30 @@
 #include "mbed.h"
 #include "stdio.h"
 
+#include "Controller.h"
+
 #define N    50
 
-class TemperatureController {
+class TemperatureController : public Controller {
     public:
         TemperatureController();
         
-        static void displayTemperature();
-        static void controlHeater();
-        static float getTemperature();
+        virtual float getValue();
+        
+        virtual void update();
     
     private:
+        float temperature;
+    
         static float readSensor();
+        
         static float analoginToCelsius(float);
         
+        static void controlHeater();
+        
         static float getOffset(float);
+        
+        static void displayTemperature();
 };
 
 #endif
\ No newline at end of file

--- a/main.cpp	Fri Jun 10 10:53:56 2016 +0000
+++ b/main.cpp	Fri Jun 10 12:38:54 2016 +0000
@@ -2,16 +2,49 @@
 #include "TemperatureController.h"
 #include "MotorController.h"
 #include "LCDController.h"
+#include "ProximityController.h"
 
 #include "mbed.h"
+#include "rtos.h"
+
+typedef struct Controllers {
+    TemperatureController *temperature;
+    SalinityController *salinity;
+    ProximityController *proximity;
+    LCDController *lcd;
+    
+} Controllers;
+
+
+
+/*
+    Continuously update controller every 100 ms
+*/
+void controller_thread(void const *args) {
+    Controller *controller = (Controller*)args;
+    
+    while(1) {
+        controller->update();
+        Thread::wait(100);
+    }
+    
+}
+
 
 int main() 
 {
     int count;
 
-    SalinityController salt;
     TemperatureController temperature;
+    Thread t1(controller_thread, (Controller*)&temperature);
+    
+    //SalinityController salt;
+    //Thread t2(controller_thread, (Controller*)&salt);
+    
+    
+    
     MotorController motor;
+    // Keep LCD controller outside thread
     LCDController lcd;
     
 //    for(int i = 0; i < 20; i++)
@@ -19,8 +52,8 @@
 //        motor.test();
 //        motor.test2();
 //    }
-    lcd.splash();
-    while(1) {        
+    //lcd.splash();
+    //while(1) {        
        // printf("%d> ", count);
         
        // salt.displayPPT();
@@ -29,9 +62,27 @@
         
       //  temperature.controlHeater();
         
-        lcd.updateScreen(temperature.getTemperature(),salt.getVoltage());
-        count++;
+     //   lcd.updateScreen(temperature.getTemperature(),salt.getVoltage());
+     //   count++;
         
-        wait(0.5);
+     //   wait(0.5);
+    //}
+    
+    float s = 0.0;
+    float t = 0.0;
+    
+    while(1) {
+        lcd.splash();
+        Thread::wait(1000);
+
+        t = temperature.getValue();
+        // s=... 
+
+        printf("Grabbing temperature value from main thread: %f\r\n", t);
+        //printf("Grabbing salinity value from main thread: %f\n", salt.getValue());
+        
+        lcd.updateScreen(t, s);     
+        
+        motor.test();
     }
 }
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-rtos.lib	Fri Jun 10 12:38:54 2016 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/mbed_official/code/mbed-rtos/#4c105b8d7cae