Diff: main.cpp.orig

Revision:

10:ca6f2769964e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp.orig	Mon Apr 13 13:01:02 2015 +0000
@@ -0,0 +1,92 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "Servo.h"
+#include "C12832.h"
+Servo sPan(p21);
+Servo sTilt(p22);
+Serial pc(USBTX, USBRX);
+Servo sVert(p23);
+Sonar distance(p24);
+Mutex mutexIn;
+Mutex mutexOut;
+ 
+AnalogIn p1(p19);
+AnalogIn p2(p20);
+
+// Global variables
+float corHoriz; // horizontal variable arrives from OpenCV
+float corVert; // vertical variable arrives from OpenCV
+float distance; // distance measured by the sonar
+float outVert; // rr
+float outTilt;
+float outHoriz;
+C12832 lcd(p5, p7, p6, p8, p11);// lcd is an object from class c12832 initialised by p5,p7....
+
+/* 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) {
+        mutexIn.lock();
+      //  pc.gets(cordinates,4);
+     //   cordinates = pc.putc(pc.getc());
+         pc.scanf("%s \n %s \n ",corHoriz,corVert);// read from serial port the data
+        mutexIn.unlock();
+        Thread::wait(200);
+    }
+}
+ 
+/* 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) {
+        mutexIn.lock();
+        mutexOut.lock();
+        // Display values on the LCD screen
+        lcd.cls();          // clear the display
+        lcd.locate(0,5);    // the location where you want your charater to be displayed
+        lcd.printf("Hor:%s",corHoriz);
+        lcd.locate(0,20);    // the location where you want your charater to be displayed
+        lcd.printf("Ver%s", corVert);
+        mutexIn.unlock();
+        mutexOut.unlock();
+        Thread::wait(25);
+    }
+}
+
+/* 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();
+        float differ;
+        differ = exp(corVert + sonar * outTilt) / (1 + exp(corVert + sonar * outTilt));
+        if (corVert > .5) { // check if face is below the half of the camera view
+            if (outTilt > .5) { // check if lamp head is facing down
+                // moves lamp down by the fraction of the difference from the middle
+        mutexIn.unlock();
+        Thread::wait(25);
+    }
+}
+
+/* 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();
+        sTi1t = outTilt;
+        sPan = outHoriz;
+        sVert = outVert;
+        mutexOut.unlock();
+        Thread::wait(200);
+    }
+}
+
+int main() {
+    Thread thread_1(serial_thread); // Start Serial Thread
+    Thread thread_2(lcd_thread); // Start LCD Thread
+    Thread thread_3(control_thread); // Start Control Thread
+    Thread thread_4(servo_thread); // Start Servo Thread
+    while(1) {
+        Thread::wait(10);
+    }
+}