Sprint One / NervousPuppySprint2602

Code with mutex and threads

Dependencies:   C12832 Servo mbed-rtos-edited mbed

Fork of NervousPuppySprintOne by Sprint One

nervousPuppy.h@8:921bd8c81549, 2015-02-26 (annotated)

Committer:
davidqpinho
Date:
Thu Feb 26 17:21:09 2015 +0000
Revision:
8:921bd8c81549
Parent:
6:f854aa2f41e2 
Version 26.02

Who changed what in which revision?

UserRevisionLine numberNew contents of line
SeanDoyle 0:f71b200c2f4d 1 #include "mbed.h"
SeanDoyle 2:8415bea33a95 2 #include "rtos.h"
SeanDoyle 2:8415bea33a95 3 #include "Servo.h"
SeanDoyle 4:2b47356f4b7d 4 #include "C12832.h"
SeanDoyle 2:8415bea33a95 5 #include <math.h>
SeanDoyle 2:8415bea33a95 6 #include <string>
SeanDoyle 0:f71b200c2f4d 7
SeanDoyle 0:f71b200c2f4d 8 #define Cos(a) cos(PI/180*(a))
SeanDoyle 0:f71b200c2f4d 9 #define Sin(a) sin(PI/180*(a))
SeanDoyle 0:f71b200c2f4d 10 #define PI 3.1415926
SeanDoyle 0:f71b200c2f4d 11
davidqpinho 8:921bd8c81549 12
davidqpinho 8:921bd8c81549 13 Mutex s1_thread;
davidqpinho 8:921bd8c81549 14 Mutex s2_thread;
davidqpinho 8:921bd8c81549 15 Mutex lcdmutex_thread;
davidqpinho 8:921bd8c81549 16
davidqpinho 8:921bd8c81549 17 float x,y;
davidqpinho 8:921bd8c81549 18
SeanDoyle 0:f71b200c2f4d 19 class nervousPuppy{
SeanDoyle 0:f71b200c2f4d 20 public:
SeanDoyle 4:2b47356f4b7d 21
SeanDoyle 0:f71b200c2f4d 22 nervousPuppy();
davidqpinho 8:921bd8c81549 23
SeanDoyle 0:f71b200c2f4d 24 bool isLonely();
SeanDoyle 0:f71b200c2f4d 25 bool isScared();
SeanDoyle 2:8415bea33a95 26 bool shutdown();
SeanDoyle 0:f71b200c2f4d 27
SeanDoyle 2:8415bea33a95 28 void detectPlayer();
SeanDoyle 0:f71b200c2f4d 29 float getPlayerDistance();
SeanDoyle 1:8fe6802d6971 30 void setPlayerDistance(float dist);
SeanDoyle 2:8415bea33a95 31
SeanDoyle 5:cbb5d7460309 32 float calculateAngle(string issue);
SeanDoyle 2:8415bea33a95 33 void changePosition(string servo,float angle);
SeanDoyle 2:8415bea33a95 34
SeanDoyle 0:f71b200c2f4d 35 private:
SeanDoyle 2:8415bea33a95 36
SeanDoyle 2:8415bea33a95 37 Mutex lockForDistance; //Not sure why needed
SeanDoyle 2:8415bea33a95 38 float playerDistance, playerError;
SeanDoyle 2:8415bea33a95 39 bool scared, lonely;
SeanDoyle 6:f854aa2f41e2 40 const float LONELY = 22.0f; //Placeholder number
SeanDoyle 6:f854aa2f41e2 41 const float SCARED = 24.0f; //Placeholder number
SeanDoyle 5:cbb5d7460309 42 const float RADIUS = 1.75f; //Placeholder number
SeanDoyle 4:2b47356f4b7d 43 const float SHUTDOWN = 0.0f; //Placeholder number
SeanDoyle 2:8415bea33a95 44 const float PULSE_RATE = 10; //Placeholder number - Pulses per second
SeanDoyle 2:8415bea33a95 45 const float SERVO_TILT_LIMIT = 45; //Placeholder number - max angle servo can tilt by
SeanDoyle 2:8415bea33a95 46 const float SERVO_ROTATE_LIMIT = 45; //Placeholder number - max angle servo can rotate by
SeanDoyle 0:f71b200c2f4d 47 };