Sprint One / Mbed 2 deprecated NervousPuppySprintTwo

NervousPuppySprintTwo

Dependencies:   C12832_lcd Servo USBHost mbed

Fork of USBHostSerial_HelloWorld by Samuel Mokrani

main.cpp@8:eaae889bc6eb, 2015-03-03 (annotated)

Committer:
davidqpinho
Date:
Tue Mar 03 19:32:09 2015 +0000
Revision:
8:eaae889bc6eb
Parent:
7:3b14ddcf6d8e
Child:
9:ea3cfd16b4d9
servos and threads with mutex working along with rs232

Who changed what in which revision?

UserRevisionLine numberNew contents of line
samux 0:7528379ed84d 1 #include "mbed.h"
samux 0:7528379ed84d 2 #include "USBHostSerial.h"
hervel90 7:3b14ddcf6d8e 3 #include "C12832_lcd.h"
hervel90 7:3b14ddcf6d8e 4 #include "Servo.h"
samux 0:7528379ed84d 5
davidqpinho 8:eaae889bc6eb 6 #define RCOUNTERTIME if(posx<=1500) posx+=1;
davidqpinho 8:eaae889bc6eb 7 #define RTIME if(posx>=500) posx-=1;
davidqpinho 8:eaae889bc6eb 8 #define TILTBACK if(posy>=500) posy-=1;
davidqpinho 8:eaae889bc6eb 9 #define TILTFORW if(posy<=1000) posy+=1;
davidqpinho 8:eaae889bc6eb 10 #define TEMPORARY rotate.SetPosition(posx); tilt.SetPosition(posy);
davidqpinho 8:eaae889bc6eb 11
hervel90 7:3b14ddcf6d8e 12 DigitalOut led1(LED1);
hervel90 7:3b14ddcf6d8e 13 DigitalOut led3(LED3);
samux 0:7528379ed84d 14 Serial pc(USBTX, USBRX);
hervel90 7:3b14ddcf6d8e 15 C12832_LCD lcd;
hervel90 7:3b14ddcf6d8e 16
hervel90 7:3b14ddcf6d8e 17 Servo tilt(p21);
hervel90 7:3b14ddcf6d8e 18 Servo rotate(p22);
hervel90 7:3b14ddcf6d8e 19 AnalogIn ainLeft(p15);
hervel90 7:3b14ddcf6d8e 20 AnalogIn ainRight(p16);
hervel90 7:3b14ddcf6d8e 21
hervel90 7:3b14ddcf6d8e 22 Mutex rx_mutex;
davidqpinho 8:eaae889bc6eb 23 Mutex tiltserv;
davidqpinho 8:eaae889bc6eb 24 Mutex rotateserv;
hervel90 7:3b14ddcf6d8e 25
davidqpinho 8:eaae889bc6eb 26 int posx = 1000,posy = 750;
davidqpinho 8:eaae889bc6eb 27
davidqpinho 8:eaae889bc6eb 28 void rotate_servo(int x);
davidqpinho 8:eaae889bc6eb 29
davidqpinho 8:eaae889bc6eb 30 void tild_thread(void const *args)
davidqpinho 8:eaae889bc6eb 31 {
davidqpinho 8:eaae889bc6eb 32 while (true) {
davidqpinho 8:eaae889bc6eb 33 tiltserv.lock();
davidqpinho 8:eaae889bc6eb 34 tilt.SetPosition(posy);
davidqpinho 8:eaae889bc6eb 35 tiltserv.unlock();
davidqpinho 8:eaae889bc6eb 36 }
davidqpinho 8:eaae889bc6eb 37 }
davidqpinho 8:eaae889bc6eb 38
davidqpinho 8:eaae889bc6eb 39 void rotate_thread(void const *args)
davidqpinho 8:eaae889bc6eb 40 {
davidqpinho 8:eaae889bc6eb 41 while (true) {
davidqpinho 8:eaae889bc6eb 42 rotateserv.lock();
davidqpinho 8:eaae889bc6eb 43 rotate.SetPosition(posx);
davidqpinho 8:eaae889bc6eb 44 rotateserv.unlock();
davidqpinho 8:eaae889bc6eb 45 }
davidqpinho 8:eaae889bc6eb 46 }
samux 0:7528379ed84d 47
hervel90 7:3b14ddcf6d8e 48 int main()
hervel90 7:3b14ddcf6d8e 49 {
davidqpinho 8:eaae889bc6eb 50 tilt.Enable(750,20000);
davidqpinho 8:eaae889bc6eb 51 rotate.Enable(1000,20000);
davidqpinho 8:eaae889bc6eb 52 Thread thr1(tild_thread);
davidqpinho 8:eaae889bc6eb 53 Thread thr2(rotate_thread);
hervel90 7:3b14ddcf6d8e 54 lcd.cls();
hervel90 7:3b14ddcf6d8e 55 char buffer[128];
davidqpinho 8:eaae889bc6eb 56 rotate.SetPosition(1000);
davidqpinho 8:eaae889bc6eb 57 tilt.SetPosition(750);
davidqpinho 8:eaae889bc6eb 58
hervel90 7:3b14ddcf6d8e 59 while (true)
hervel90 7:3b14ddcf6d8e 60 {
hervel90 7:3b14ddcf6d8e 61 if(pc.readable())
hervel90 7:3b14ddcf6d8e 62 {
hervel90 7:3b14ddcf6d8e 63 rx_mutex.lock();
hervel90 7:3b14ddcf6d8e 64 pc.gets(buffer,2); // set the number of bytes
hervel90 7:3b14ddcf6d8e 65
hervel90 7:3b14ddcf6d8e 66 rx_mutex.unlock();
hervel90 7:3b14ddcf6d8e 67 lcd.locate(0,1);
hervel90 7:3b14ddcf6d8e 68 lcd.printf(buffer);
hervel90 7:3b14ddcf6d8e 69 }
hervel90 7:3b14ddcf6d8e 70 int x=atoi(buffer);
davidqpinho 8:eaae889bc6eb 71
davidqpinho 8:eaae889bc6eb 72 rotate_servo(x);
davidqpinho 8:eaae889bc6eb 73 }
davidqpinho 8:eaae889bc6eb 74 }
davidqpinho 8:eaae889bc6eb 75
davidqpinho 8:eaae889bc6eb 76
davidqpinho 8:eaae889bc6eb 77
davidqpinho 8:eaae889bc6eb 78 void rotate_servo(int x){
davidqpinho 8:eaae889bc6eb 79 switch (x)
hervel90 7:3b14ddcf6d8e 80 {
hervel90 7:3b14ddcf6d8e 81 case 0:
hervel90 7:3b14ddcf6d8e 82 lcd.cls();
hervel90 7:3b14ddcf6d8e 83 lcd.locate(0,1);
hervel90 7:3b14ddcf6d8e 84 lcd.printf("Do nothing");
hervel90 7:3b14ddcf6d8e 85
hervel90 7:3b14ddcf6d8e 86 break;
hervel90 7:3b14ddcf6d8e 87
hervel90 7:3b14ddcf6d8e 88 case 1:
hervel90 7:3b14ddcf6d8e 89 lcd.cls();
hervel90 7:3b14ddcf6d8e 90 lcd.locate(0,1);
hervel90 7:3b14ddcf6d8e 91 lcd.printf("Right");
davidqpinho 8:eaae889bc6eb 92 RCOUNTERTIME;
davidqpinho 8:eaae889bc6eb 93
hervel90 7:3b14ddcf6d8e 94 break;
hervel90 7:3b14ddcf6d8e 95
hervel90 7:3b14ddcf6d8e 96 case 2:
hervel90 7:3b14ddcf6d8e 97 lcd.cls();
hervel90 7:3b14ddcf6d8e 98 lcd.locate(0,1);
hervel90 7:3b14ddcf6d8e 99 lcd.printf("down & right");
davidqpinho 8:eaae889bc6eb 100 RCOUNTERTIME;
davidqpinho 8:eaae889bc6eb 101 TILTFORW;
davidqpinho 8:eaae889bc6eb 102
hervel90 7:3b14ddcf6d8e 103 break;
hervel90 7:3b14ddcf6d8e 104
hervel90 7:3b14ddcf6d8e 105 case 3:
hervel90 7:3b14ddcf6d8e 106 lcd.cls();
hervel90 7:3b14ddcf6d8e 107 lcd.locate(0,1);
hervel90 7:3b14ddcf6d8e 108 lcd.printf("down");
davidqpinho 8:eaae889bc6eb 109 TILTFORW;
davidqpinho 8:eaae889bc6eb 110
hervel90 7:3b14ddcf6d8e 111 break;
hervel90 7:3b14ddcf6d8e 112
hervel90 7:3b14ddcf6d8e 113 case 4:
hervel90 7:3b14ddcf6d8e 114 lcd.cls();
hervel90 7:3b14ddcf6d8e 115 lcd.locate(0,1);
davidqpinho 8:eaae889bc6eb 116 lcd.printf("Down & left");
davidqpinho 8:eaae889bc6eb 117 RTIME;
davidqpinho 8:eaae889bc6eb 118 TILTFORW;
davidqpinho 8:eaae889bc6eb 119
hervel90 7:3b14ddcf6d8e 120 break;
hervel90 7:3b14ddcf6d8e 121
hervel90 7:3b14ddcf6d8e 122 case 5:
hervel90 7:3b14ddcf6d8e 123 lcd.cls();
hervel90 7:3b14ddcf6d8e 124 lcd.locate(0,1);
hervel90 7:3b14ddcf6d8e 125 lcd.printf("left");
davidqpinho 8:eaae889bc6eb 126 RTIME;
davidqpinho 8:eaae889bc6eb 127
davidqpinho 8:eaae889bc6eb 128
davidqpinho 8:eaae889bc6eb 129
hervel90 7:3b14ddcf6d8e 130 break;
samux 0:7528379ed84d 131
hervel90 7:3b14ddcf6d8e 132 case 6:
hervel90 7:3b14ddcf6d8e 133 lcd.cls();
hervel90 7:3b14ddcf6d8e 134 lcd.locate(0,1);
hervel90 7:3b14ddcf6d8e 135 lcd.printf("up & left");
davidqpinho 8:eaae889bc6eb 136 RTIME;
davidqpinho 8:eaae889bc6eb 137 TILTBACK;
davidqpinho 8:eaae889bc6eb 138
davidqpinho 8:eaae889bc6eb 139
davidqpinho 8:eaae889bc6eb 140
hervel90 7:3b14ddcf6d8e 141 break;
hervel90 7:3b14ddcf6d8e 142
hervel90 7:3b14ddcf6d8e 143 case 7:
hervel90 7:3b14ddcf6d8e 144 lcd.cls();
hervel90 7:3b14ddcf6d8e 145 lcd.locate(0,1);
hervel90 7:3b14ddcf6d8e 146 lcd.printf("up");
davidqpinho 8:eaae889bc6eb 147 TILTBACK;
davidqpinho 8:eaae889bc6eb 148
davidqpinho 8:eaae889bc6eb 149
davidqpinho 8:eaae889bc6eb 150
hervel90 7:3b14ddcf6d8e 151 break;
hervel90 7:3b14ddcf6d8e 152
hervel90 7:3b14ddcf6d8e 153 case 8:
hervel90 7:3b14ddcf6d8e 154 lcd.cls();
hervel90 7:3b14ddcf6d8e 155 lcd.locate(0,1);
davidqpinho 8:eaae889bc6eb 156 lcd.printf("up & right");
davidqpinho 8:eaae889bc6eb 157 TILTBACK;
davidqpinho 8:eaae889bc6eb 158 RCOUNTERTIME;
davidqpinho 8:eaae889bc6eb 159
davidqpinho 8:eaae889bc6eb 160
hervel90 7:3b14ddcf6d8e 161 break;
davidqpinho 8:eaae889bc6eb 162
samux 0:7528379ed84d 163 }
davidqpinho 8:eaae889bc6eb 164
davidqpinho 8:eaae889bc6eb 165 }
davidqpinho 8:eaae889bc6eb 166
davidqpinho 8:eaae889bc6eb 167