WIT_EmbOS_Gr1 / Team_Sprint2

Code for Sprint 2

Dependencies:   C12832 mbed rtos RangeFinder

main.cpp@14:74733a28eb80, 2015-04-16 (annotated)

Committer:
Soldier7
Date:
Thu Apr 16 16:16:10 2015 +0000
Revision:
14:74733a28eb80
Parent:
13:4ef3d9835b13
Child:
15:4730277de7c2
Raw version of accepting inputs, but the outTilt variable is in a loop and decreasing below 0.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Soldier7 0:5edc27224a37 1 #include "mbed.h"
Soldier7 0:5edc27224a37 2 #include "rtos.h"
Soldier7 0:5edc27224a37 3 #include "Servo.h"
Soldier7 0:5edc27224a37 4 #include "C12832.h"
Argensis 9:e5d24b7a921b 5
Soldier7 14:74733a28eb80 6 Servo tiltServo(p24);
Soldier7 14:74733a28eb80 7 Servo panServo(p25);
Soldier7 0:5edc27224a37 8 Serial pc(USBTX, USBRX);
Argensis 10:ca6f2769964e 9 Servo vertServo(p23);
Soldier7 14:74733a28eb80 10 AnalogIn sonar(p19); // temporary changed to potmeter
Soldier7 0:5edc27224a37 11 Mutex mutexIn;
Soldier7 0:5edc27224a37 12 Mutex mutexOut;
Soldier7 0:5edc27224a37 13
Soldier7 8:fe434a018d96 14 // Global variables
Argensis 10:ca6f2769964e 15 float corHoriz = 0; // horizontal variable arrives from OpenCV
Argensis 10:ca6f2769964e 16 float corVert = 0; // vertical variable arrives from OpenCV
Soldier7 14:74733a28eb80 17 float distance = 0; // distance from the sonar sensor
Soldier7 14:74733a28eb80 18 float outVert; // output to vertical servo
Soldier7 14:74733a28eb80 19 float outTilt; // output to tilt servo
Soldier7 14:74733a28eb80 20 float outHoriz; // output to horizontal servo
Soldier7 14:74733a28eb80 21 C12832 lcd(p5, p7, p6, p8, p11);// lcd is an object from class c12832 initialised by p5, p7....
Soldier7 0:5edc27224a37 22
Soldier7 0:5edc27224a37 23 /* Thread Serial 1 - handles the output data from the control thread, and pass to the servo.
Soldier7 0:5edc27224a37 24 @update s1, s2 */
Soldier7 12:f6d4980c48d6 25 void serial_thread(void const *args)
Soldier7 12:f6d4980c48d6 26 {
Soldier7 0:5edc27224a37 27 while (true) {
Argensis 9:e5d24b7a921b 28 pc.scanf("%f,%f", &corHoriz, &corVert);// read from serial port the data
Soldier7 0:5edc27224a37 29 }
Soldier7 0:5edc27224a37 30 }
Soldier7 12:f6d4980c48d6 31
Soldier7 0:5edc27224a37 32 /* Thread LCD 2 - handles the input data from the sonar sensor, and display on the LCD screen.
Soldier7 0:5edc27224a37 33 @update inData */
Soldier7 12:f6d4980c48d6 34 void lcd_thread(void const *args)
Soldier7 12:f6d4980c48d6 35 {
Soldier7 0:5edc27224a37 36 while (true) {
Soldier7 0:5edc27224a37 37 // Display values on the LCD screen
Soldier7 0:5edc27224a37 38 lcd.cls(); // clear the display
Soldier7 4:70090f3b1f07 39 lcd.locate(0,5); // the location where you want your charater to be displayed
Soldier7 14:74733a28eb80 40 lcd.printf("Sonar: %0.3f, OutTilt: %0.3f", sonar.read(), outTilt);
Ali_taher 3:3d53799c2f18 41 lcd.locate(0,20); // the location where you want your charater to be displayed
Soldier7 14:74733a28eb80 42 lcd.printf("Vert: %0.3f, OutVert: %0.3f", corVert, outVert);
Argensis 9:e5d24b7a921b 43 Thread::wait(250);
Soldier7 0:5edc27224a37 44 }
Soldier7 0:5edc27224a37 45 }
Soldier7 0:5edc27224a37 46
Soldier7 0:5edc27224a37 47 /* Thread Control 3 - handles the input data from the sonar sensor, and display on the LCD screen.
Soldier7 0:5edc27224a37 48 @update inData */
Soldier7 12:f6d4980c48d6 49 void control_thread(void const *args)
Soldier7 12:f6d4980c48d6 50 {
Soldier7 0:5edc27224a37 51 while (true) {
Soldier7 0:5edc27224a37 52 mutexIn.lock();
Soldier7 8:fe434a018d96 53 float differ;
Soldier7 8:fe434a018d96 54 differ = exp(corVert + sonar * outTilt) / (1 + exp(corVert + sonar * outTilt));
Soldier7 14:74733a28eb80 55 if (0.3 < corVert < 0.7) { // if corVert is valid (between 0 - 1) then do movements
Soldier7 12:f6d4980c48d6 56 // moves lamp down by the fraction of the difference from the middle
Soldier7 14:74733a28eb80 57 outVert = outVert + ((outVert - .5) * differ);
Soldier7 14:74733a28eb80 58 // tilt down by the fraction of the difference from the middle
Soldier7 14:74733a28eb80 59 outTilt = outTilt + ((outVert - .5) * (1 - differ));
Soldier7 14:74733a28eb80 60 } else if (0 < corVert < 0.3) {
Soldier7 14:74733a28eb80 61 outVert = 0;
Soldier7 14:74733a28eb80 62 outTilt = corVert * .9; // Follow the low movement only with the tilt servo.
Soldier7 14:74733a28eb80 63 // (.9 is the correction of the side of the screen at OpenCV)
Soldier7 14:74733a28eb80 64 } else if (corVert > 0.7 && corVert < 1) {
Soldier7 14:74733a28eb80 65 outVert = 1;
Soldier7 14:74733a28eb80 66 outTilt = corVert * 1.1;
Soldier7 14:74733a28eb80 67 } else { // Else this is the case when there is no input from the OpenCV
Soldier7 14:74733a28eb80 68 outVert = .5;
Soldier7 14:74733a28eb80 69 // TODO Pan search code here. (Searching personality.)
Soldier7 12:f6d4980c48d6 70 }
Soldier7 0:5edc27224a37 71 mutexIn.unlock();
Soldier7 0:5edc27224a37 72 Thread::wait(25);
Soldier7 0:5edc27224a37 73 }
Soldier7 0:5edc27224a37 74 }
Soldier7 0:5edc27224a37 75
Soldier7 0:5edc27224a37 76 /* Thread Servo 4 - handles the output data from the control thread, and pass to the servo.
Soldier7 0:5edc27224a37 77 @update s1, s2 */
Soldier7 12:f6d4980c48d6 78 void servo_thread(void const *args)
Soldier7 12:f6d4980c48d6 79 {
Soldier7 0:5edc27224a37 80 while (true) {
Soldier7 0:5edc27224a37 81 mutexOut.lock();
Argensis 10:ca6f2769964e 82 tiltServo = outTilt;
Argensis 10:ca6f2769964e 83 panServo = outHoriz;
Argensis 10:ca6f2769964e 84 vertServo = outVert;
Soldier7 0:5edc27224a37 85 mutexOut.unlock();
Soldier7 0:5edc27224a37 86 Thread::wait(200);
Soldier7 0:5edc27224a37 87 }
Soldier7 0:5edc27224a37 88 }
Soldier7 0:5edc27224a37 89
Soldier7 12:f6d4980c48d6 90 int main()
Soldier7 12:f6d4980c48d6 91 {
Soldier7 0:5edc27224a37 92 Thread thread_1(serial_thread); // Start Serial Thread
Soldier7 0:5edc27224a37 93 Thread thread_2(lcd_thread); // Start LCD Thread
Argensis 10:ca6f2769964e 94 Thread thread_3(control_thread); // Start Servo Thread
Soldier7 0:5edc27224a37 95 Thread thread_4(servo_thread); // Start Servo Thread
Soldier7 0:5edc27224a37 96 while(1) {
Argensis 9:e5d24b7a921b 97 wait(1);
Soldier7 0:5edc27224a37 98 }
Soldier7 0:5edc27224a37 99 }