Revision 8:eaae889bc6eb, committed 2015-03-03

Comitter:

davidqpinho

Date:

Tue Mar 03 19:32:09 2015 +0000

Parent:

7:3b14ddcf6d8e

Child:

9:ea3cfd16b4d9

Commit message:

servos and threads with mutex working along with rs232

Changed in this revision

--- a/main.cpp	Mon Mar 02 15:20:18 2015 +0000
+++ b/main.cpp	Tue Mar 03 19:32:09 2015 +0000
@@ -3,6 +3,12 @@
 #include "C12832_lcd.h"
 #include "Servo.h"
 
+#define RCOUNTERTIME    if(posx<=1500)  posx+=1;
+#define RTIME           if(posx>=500) posx-=1;
+#define TILTBACK        if(posy>=500)   posy-=1;
+#define TILTFORW        if(posy<=1000)  posy+=1;
+#define TEMPORARY       rotate.SetPosition(posx); tilt.SetPosition(posy);
+
 DigitalOut led1(LED1);
 DigitalOut led3(LED3);
 Serial pc(USBTX, USBRX);
@@ -14,37 +20,43 @@
 AnalogIn ainRight(p16);
 
 Mutex rx_mutex;
+Mutex tiltserv;
+Mutex rotateserv;
 
+int posx = 1000,posy = 750;
+
+void rotate_servo(int x);
+
+void tild_thread(void const *args) 
+{
+    while (true) {
+       tiltserv.lock();
+       tilt.SetPosition(posy);
+       tiltserv.unlock();
+                }
+}
+                
+void rotate_thread(void const *args) 
+{
+    while (true) {
+        rotateserv.lock();
+        rotate.SetPosition(posx);
+        rotateserv.unlock();
+                }
+}
 
 int main()
 {
-    int pos = 1000;
-    tilt.Enable(1000,20000);
+    tilt.Enable(750,20000);
+    rotate.Enable(1000,20000);
+    Thread thr1(tild_thread);
+    Thread thr2(rotate_thread);
     lcd.cls();
     char buffer[128];
-    
+    rotate.SetPosition(1000);
+    tilt.SetPosition(750);
+   
     while (true)
-    { 
-     for(pos=1000;pos<=1250;pos+=1)
-        {
-            tilt.SetPosition(pos);
-            lcd.cls();
-            lcd.printf(" %d ", pos);
-            //wait(0.5);
-        }
-    
-    for(pos=1250;pos>=1000;pos-=1)
-        {  
-            tilt.SetPosition(pos);
-            lcd.printf(" %d ", pos);
-            //wait(0.5);
-        }
-    
-    }
-    
-    
-    
-/*    while (true)
     {
         if(pc.readable()) 
         {
@@ -56,7 +68,15 @@
             lcd.printf(buffer);
         }
         int x=atoi(buffer);
-        switch (x)
+
+        rotate_servo(x);
+    } 
+}
+
+
+
+void rotate_servo(int x){
+    switch (x)
         {
             case 0:
                 lcd.cls();
@@ -69,51 +89,79 @@
                 lcd.cls();
                 lcd.locate(0,1);
                 lcd.printf("Right");
-                //thread servo right
+                RCOUNTERTIME;
+         
             break;
             
             case 2:
                 lcd.cls();
                 lcd.locate(0,1);
                 lcd.printf("down & right");
-
+                RCOUNTERTIME;
+                TILTFORW;
+            
             break;
             
             case 3:
                 lcd.cls();
                 lcd.locate(0,1);
                 lcd.printf("down");
+                TILTFORW;
+                             
             break;
             
             case 4:
                 lcd.cls();
                 lcd.locate(0,1);
-                lcd.printf("Ddown & left");
+                lcd.printf("Down & left");
+                RTIME;
+                TILTFORW;
+                          
             break;
             
             case 5:
                 lcd.cls();
                 lcd.locate(0,1);
                 lcd.printf("left");
+                RTIME;
+                
+
+                
             break;
             
             case 6:
                 lcd.cls();
                 lcd.locate(0,1);
                 lcd.printf("up & left");
+                RTIME;
+                TILTBACK;
+                
+
+                
             break;
             
             case 7:
                 lcd.cls();
                 lcd.locate(0,1);
                 lcd.printf("up");
+                TILTBACK;
+               
+
+                
             break;
             
             case 8:
                 lcd.cls();
                 lcd.locate(0,1);
-                lcd.printf("up & left");
+                lcd.printf("up & right");
+                TILTBACK;
+                RCOUNTERTIME;
+           
+                
             break;
+            
         }
-    } */
-}
+    
+    }
+
+