File content as of revision 23:7d29f2132197:

#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);
    }
}