Diff: main.cpp.orig

Revision:

24:de4d6a06011b

Parent:

16:af76305da577

--- a/main.cpp.orig	Fri Apr 17 10:12:20 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,92 +0,0 @@
-#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);
-    }
-}