Diff: main.cpp.orig

Revision:

27:b1653e9bc81c

Parent:

26:71288f42dbc6

Child:

28:e04fb7a2a51e

--- a/main.cpp.orig	Thu Apr 23 14:46:50 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,133 +0,0 @@
-#include "mbed.h"
-#include "rtos.h"
-#include "Servo.h"
-#include "C12832.h"
-#include "RangeFinder.h"// header files for sonar sensor
-
-Servo tiltServo(p24);
-Servo panServo(p25);
-Servo vertServo(p23);
-Serial pc(USBTX, USBRX);
-Mutex mutexIn;// protect global variables
-Mutex mutexOut;// protect global variables
-Mutex mutex_sonar;
-AnalogIn sonar(p17); // correct is p17. TEMPORARY changed to potmeter p19
-//AnalogIn corVert(p20); // TO REMOVE. Temporary changed to potmeter
-
-// Global variables
-float corHoriz = 0.5; // horizontal variable arrives from OpenCV
-float corVert = 0.5; // vertical variable arrives from OpenCV
-float distance = 0.5;// variable holds the distance in meters 0 to 3.3
-float norm=0;      // variable holds the normalised values form the sonar sensor
-float outVert; // output to vertical servo
-float outTilt; // output to tilt servo
-float outHoriz; // output to horizontal servo
-C12832 lcd(p5, p7, p6, p8, p11);// lcd is an object from class c12832 initialised by p5,p7....
-
-typedef enum {
-    searching,
-    tracking,
-    retreating
-} LampState;
-
-LampState lamp;
-
-/* parallax ultrasound range finder
-p21 pin the range finder is connected to.
-10 is Time of pulse to send to the rangefinder to trigger a measurement, in microseconds.
-5800 is   Scaling of the range finder's output pulse from microseconds to metres.
-100000 Time to wait for a pulse from the range finder before giving up */
-RangeFinder rf(p26, 10, 5800.0, 100000);
-
-/* Thread Serial 1 - handles the output data from the control thread, and pass to the servo.
-    @update s1, s2 */
-void serial_thread(void const *args)
-{
-    while (true) {
-        pc.scanf("%f,%f", &corHoriz, &corVert);// read from serial port the data // temporary Vert1
-    }
-}
-
-/* Thread LCD 2 - handles the input data from the sonar sensor, and display on the LCD screen.
-    @update inData */
-void lcd_thread(void const *args)
-{
-    while (true) {
-        mutex_sonar.lock();
-        // Display values on the LCD screen
-        lcd.cls();          // clear the display
-        lcd.locate(0,1);    // the location where you want your charater to be displayed
-        lcd.printf("Sonar: %0.3f, OutTilt: %0.3f", sonar.read(), outTilt);
-        lcd.locate(0,9);    // the location where you want your charater to be displayed
-        lcd.printf("Vert: %0.3f, OutVert: %0.3f", corVert, outVert);
-        Thread::wait(250);
-        mutex_sonar.unlock();
-    }
-}
-
-/* Thread Control 3 - handles the input data from the sonar sensor, and display on the LCD screen.
-    @update inData */
-void control_thread(void const *args) {
-    while (true) {
-        mutexIn.lock();
-        if (corVert > 0 && corVert < 1) { // if corVert is valid (between 0 - 1) then do movements                
-            // moves lamp down by the fraction of the difference from the middle
-            if (corVert >= .5) {
-                outVert = corVert - ((corVert - .5) * sonar);
-            } else {
-                outVert = corVert + ((.5 - corVert) * sonar);
-            }
-            outTilt = corVert;
-            outHoriz = corHoriz;
-        } else { // Else this is the case when there is no input from the OpenCV
-            outVert = 1;
-            outTilt = corVert;
-            // TODO Pan search code here. (Searching personality.)
-            /*if (search < outHoriz && search < .9) {
-                outHoriz = outHoriz + .05;
-                search = search + .05;
-            } else if (search > outHoriz && search > .1) {
-                outHoriz = 
-                search = 
-            }*/
-        }
-        mutexIn.unlock();
-        Thread::wait(250);
-    }
-}
-
-/* Thread Servo 4 - handles the output data from the control thread, and pass to the servo.
-    @update s1, s2 */
-void servo_thread(void const *args) {
-    while (true) {
-        mutexOut.lock();
-        tiltServo = outTilt;
-        panServo = outHoriz;
-        vertServo = outVert;
-        mutexOut.unlock();
-        Thread::wait(250);
-    }
-}
-
-/* Thread sonar 5 - handles the sonar values which can be in meter or normailsed value to one */ 
-void sonar_thread(void const *args) {
-    while (true) {
-        mutex_sonar.lock();
-        distance = rf.read_m(); // read the distance from the sonar sensor in meter
-        norm= distance/3.3;     // normalised value from the sonar sensor
-        printf("dis: %0.2f", distance);// Display the distance in meters from the sonar
-        mutex_sonar.unlock();
-        Thread::wait(250);
-    }
-}
-
-int main() {
-    Thread thread_1(serial_thread); // Start Serial Thread
-    Thread thread_2(lcd_thread); // Start LCD Thread
-    Thread thread_3(control_thread); // Start Servo Thread
-    Thread thread_4(servo_thread); // Start Servo Thread
-    Thread thread_5(sonar_thread); // Start Servo Thread
-    while(1) {     
-        wait(1);
-    }
-}