Diff: main.cpp

Revision:

21:f098ffcd192a

Parent:

20:5f6df7ae19a3

Parent:

17:974430ee2fbb

Child:

22:00a577f64930

--- a/main.cpp	Thu Apr 23 10:40:09 2015 +0000
+++ b/main.cpp	Thu Apr 23 10:50:12 2015 +0000
@@ -2,27 +2,36 @@
 #include "rtos.h"
 #include "Servo.h"
 #include "C12832.h"
+#include "RangeFinder.h"// header files for sonar sensor
 
 Servo tiltServo(p24);
 Servo panServo(p25);
 Serial pc(USBTX, USBRX);
 Servo vertServo(p23);
-
+Mutex mutexIn;// protect global variables
+Mutex mutexOut;// protect global variables
+Mutex mutex_sonar;
 AnalogIn sonar(p19); // temporary changed to potmeter
-AnalogIn corVert(p20); // temporary
+AnalogIn corVert(p20); // temporary changed to potmeter
 Mutex mutexIn;
 Mutex mutexOut;
 
 // Global variables
 float corHoriz = 0.5; // horizontal variable arrives from OpenCV
-//float corVert = 0.5; // vertical variable arrives from OpenCV
-float corVert1 = 0.5; // temporary
-float distance = 0.5; // distance from the sonar sensor
+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
-float search = .9; // set current position of pan servo to find the movement direction
-C12832 lcd(p5, p7, p6, p8, p11);// lcd is an object from class c12832 initialised by p5, p7....
+C12832 lcd(p5, p7, p6, p8, p11);// lcd is an object from class c12832 initialised by p5,p7....
+
+/* 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 */
@@ -38,22 +47,20 @@
 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.read(), outVert);
-        //lcd.locate(0,18);    // the location where you want your charater to be displayed
-        //lcd.printf("Sonar: %0.3f", sonar.read());
         Thread::wait(250);
     }
 }
 
 /* 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)
-{
+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                
@@ -78,31 +85,42 @@
             }*/
         }
         mutexIn.unlock();
-        Thread::wait(25);
+        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)
-{
+void servo_thread(void const *args) {
     while (true) {
         mutexOut.lock();
         tiltServo = outTilt;
         panServo = outHoriz;
         vertServo = outVert;
         mutexOut.unlock();
-        Thread::wait(200);
+        Thread::wait(250);
     }
 }
 
-int main()
-{
+/* 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
-    while(1) {
+    Thread thread_5(sonar_thread); // Start Servo Thread
+    while(1) {     
         wait(1);
     }
 }