Revision 8:921bd8c81549, committed 2015-02-26

Comitter:

davidqpinho

Date:

Thu Feb 26 17:21:09 2015 +0000

Parent:

7:8b2cf5e6e888

Commit message:

Version 26.02

Changed in this revision

diff -r 8b2cf5e6e888 -r 921bd8c81549 nervousPuppy.cpp
--- a/nervousPuppy.cpp	Wed Jan 28 16:49:16 2015 +0000
+++ b/nervousPuppy.cpp	Thu Feb 26 17:21:09 2015 +0000
@@ -11,23 +11,57 @@
 
 C12832 lcd(p5, p7, p6, p8, p11);
 
+void sensor1_thread(void const *args) {
+    while (true) {
+    s1_thread.lock();
+    x = 100*ainRight.read(); 
+    s1_thread.unlock();
+    }
+} 
+void sensor2_thread(void const *args) {
+    while (true) {
+    s2_thread.lock();
+    y = 100*ainLeft.read();
+    s2_thread.unlock();
+    }
+} 
+
+/*void lcd_thread(void const *args) {
+    while (true) {
+        //lcdmutex_thread.lock();
+        lcd.cls();
+        lcd.locate(0,3);
+        lcd.printf("x = %f",x);
+        lcd.printf(" y = %f",y);
+        lcd.printf("rotating by ,%f",pos);
+        //lcdmutex_thread.unlock();
+    }
+}*/
+
+
 
 nervousPuppy::nervousPuppy(){
-    rotation = 0;
+    //rotation = 0;
     int pos = 1000;
+    
     rotate.Enable(1000,20000);
+    
+    //activating threads
+    Thread thr1(sensor1_thread); 
+    Thread thr2(sensor2_thread);
+    //Thread thr3(lcd_thread);
+  
+    
     while(1){
         
-
-        float x = 100*ainRight.read();
-        float y = 100*ainLeft.read();
-        
+    
+      
 
         lcd.cls();
         lcd.locate(0,3);
         lcd.printf("x = %f",x);
         lcd.printf(" y = %f",y);
-        
+      
         
         if(y > 3.5 && x < 3.5){
             lcd.printf("rotating by ,%f",pos);
@@ -38,7 +72,7 @@
             pos -= 50;
             rotate.SetPosition(pos);
         }
-        
+     
     }
 }
 

diff -r 8b2cf5e6e888 -r 921bd8c81549 nervousPuppy.h
--- a/nervousPuppy.h	Wed Jan 28 16:49:16 2015 +0000
+++ b/nervousPuppy.h	Thu Feb 26 17:21:09 2015 +0000
@@ -9,11 +9,18 @@
 #define Sin(a) sin(PI/180*(a))
 #define PI 3.1415926
 
+
+Mutex s1_thread;
+Mutex s2_thread;
+Mutex lcdmutex_thread;
+
+float x,y;
+
 class nervousPuppy{
     public:
 
         nervousPuppy();
-        
+                        
         bool isLonely();
         bool isScared();
         bool shutdown();