Code for Sprint 2
Dependencies: C12832 mbed rtos RangeFinder
main.cpp
- Committer:
- Soldier7
- Date:
- 2015-03-23
- Revision:
- 7:24d62ef1ed34
- Parent:
- 4:70090f3b1f07
- Child:
- 8:fe434a018d96
File content as of revision 7:24d62ef1ed34:
#include "mbed.h" #include "rtos.h" #include "Servo.h" #include "C12832.h" //Servo sPan(p21); Servo sTilt(p22); Serial pc(USBTX, USBRX); Servo sVert(p21); // temporary assigned 21 for testing Mutex mutexIn; Mutex mutexOut; AnalogIn p1(p19); AnalogIn p2(p20); // Globel variables char cordinates[20]; char corHoriz[20]; char corVert[20]; //float corDeep; float outVert; //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(); // The control code will come here // if (corHoriz[1]=='1') // s1 = s1 + 0.25; // if (corHoriz[1]=='2') // s1 = s1 - 0.25; if (corVert > .5) { // check if face is below the half of the camera view if (outVert > .5) { // check if lamp head is facing down sVert = ; // 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(); // s1 = outVert; // s2 = outHoriz; 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); } }