WIT_EmbOS_Gr1 / Team_Sprint2

Code for Sprint 2

Dependencies:   C12832 mbed rtos RangeFinder

main.cpp@16:af76305da577, 2015-04-17 (annotated)

Committer:
Ali_taher
Date:
Fri Apr 17 10:12:20 2015 +0000
Revision:
16:af76305da577
Parent:
10:ca6f2769964e
Child:
17:974430ee2fbb
Child:
24:de4d6a06011b
Adding the sonar sensor reading to the code and display the distance in meters

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"
Ali_taher 16:af76305da577 5 #include "RangeFinder.h"// header files for sonar sensor
Argensis 9:e5d24b7a921b 6
Ali_taher 16:af76305da577 7 Servo tiltServo(p22);
Argensis 9:e5d24b7a921b 8 Servo panServo(p22);
Ali_taher 16:af76305da577 9
Soldier7 0:5edc27224a37 10 Serial pc(USBTX, USBRX);
Argensis 10:ca6f2769964e 11 Servo vertServo(p23);
Ali_taher 16:af76305da577 12 AnalogIn sonar(p19); //not any more used
Ali_taher 16:af76305da577 13
Ali_taher 16:af76305da577 14 Mutex mutexIn;// protect globel variables
Ali_taher 16:af76305da577 15 Mutex mutexOut;// protect globel variables
Ali_taher 16:af76305da577 16 Mutex mutex_sonar;
Soldier7 0:5edc27224a37 17
Argensis 9:e5d24b7a921b 18 // Global variables
Argensis 10:ca6f2769964e 19 float corHoriz = 0; // horizontal variable arrives from OpenCV
Argensis 10:ca6f2769964e 20 float corVert = 0; // vertical variable arrives from OpenCV
Ali_taher 16:af76305da577 21 float distance = 0;// variable holds the distance in meters 0 to 3.3
Ali_taher 16:af76305da577 22 float norm=0; // variable holds the normalised values form the sonar sensor
Soldier7 8:fe434a018d96 23 float outVert; // rr
Soldier7 8:fe434a018d96 24 float outTilt;
Soldier7 8:fe434a018d96 25 float outHoriz;
Soldier7 0:5edc27224a37 26 C12832 lcd(p5, p7, p6, p8, p11);// lcd is an object from class c12832 initialised by p5,p7....
Soldier7 0:5edc27224a37 27
Ali_taher 16:af76305da577 28 /*parallax ultrasound range finder
Ali_taher 16:af76305da577 29 p21 pin the range finder is connected to.
Ali_taher 16:af76305da577 30 10 is Time of pulse to send to the rangefinder to trigger a measurement, in microseconds.
Ali_taher 16:af76305da577 31 5800 is Scaling of the range finder's output pulse from microseconds to metres.
Ali_taher 16:af76305da577 32 100000 Time to wait for a pulse from the range finder before giving up
Ali_taher 16:af76305da577 33 */
Ali_taher 16:af76305da577 34
Ali_taher 16:af76305da577 35 RangeFinder rf(p26, 10, 5800.0, 100000);
Soldier7 0:5edc27224a37 36 /* Thread Serial 1 - handles the output data from the control thread, and pass to the servo.
Soldier7 0:5edc27224a37 37 @update s1, s2 */
Soldier7 0:5edc27224a37 38 void serial_thread(void const *args) {
Soldier7 0:5edc27224a37 39 while (true) {
Argensis 9:e5d24b7a921b 40 pc.scanf("%f,%f", &corHoriz, &corVert);// read from serial port the data
Soldier7 0:5edc27224a37 41 }
Soldier7 0:5edc27224a37 42 }
Soldier7 0:5edc27224a37 43
Soldier7 0:5edc27224a37 44 /* Thread LCD 2 - handles the input data from the sonar sensor, and display on the LCD screen.
Soldier7 0:5edc27224a37 45 @update inData */
Soldier7 0:5edc27224a37 46 void lcd_thread(void const *args) {
Soldier7 0:5edc27224a37 47 while (true) {
Ali_taher 16:af76305da577 48 mutex_sonar.lock();
Soldier7 0:5edc27224a37 49 // Display values on the LCD screen
Soldier7 0:5edc27224a37 50 lcd.cls(); // clear the display
Soldier7 4:70090f3b1f07 51 lcd.locate(0,5); // the location where you want your charater to be displayed
Argensis 9:e5d24b7a921b 52 lcd.printf("Hor: %0.3f", corHoriz);
Ali_taher 16:af76305da577 53 lcd.locate(0,10); // the location where you want your charater to be displayed
Ali_taher 16:af76305da577 54 lcd.printf("Ver: %0.3f", corVert);
Ali_taher 3:3d53799c2f18 55 lcd.locate(0,20); // the location where you want your charater to be displayed
Ali_taher 16:af76305da577 56 lcd.printf("dis: %0.2f", distance);// Display the distance in meters from the sonar
Ali_taher 16:af76305da577 57 mutex_sonar.unlock();
Argensis 9:e5d24b7a921b 58 Thread::wait(250);
Soldier7 0:5edc27224a37 59 }
Soldier7 0:5edc27224a37 60 }
Soldier7 0:5edc27224a37 61
Soldier7 0:5edc27224a37 62 /* Thread Control 3 - handles the input data from the sonar sensor, and display on the LCD screen.
Soldier7 0:5edc27224a37 63 @update inData */
Soldier7 0:5edc27224a37 64 void control_thread(void const *args) {
Soldier7 0:5edc27224a37 65 while (true) {
Soldier7 0:5edc27224a37 66 mutexIn.lock();
Ali_taher 16:af76305da577 67
Soldier7 8:fe434a018d96 68 float differ;
Soldier7 8:fe434a018d96 69 differ = exp(corVert + sonar * outTilt) / (1 + exp(corVert + sonar * outTilt));
Soldier7 7:24d62ef1ed34 70 if (corVert > .5) { // check if face is below the half of the camera view
Soldier7 8:fe434a018d96 71 if (outTilt > .5) { // check if lamp head is facing down
Soldier7 8:fe434a018d96 72 // moves lamp down by the fraction of the difference from the middle
Argensis 10:ca6f2769964e 73 }
Argensis 10:ca6f2769964e 74 }
Soldier7 0:5edc27224a37 75 mutexIn.unlock();
Ali_taher 16:af76305da577 76 Thread::wait(250);
Soldier7 0:5edc27224a37 77 }
Soldier7 0:5edc27224a37 78 }
Soldier7 0:5edc27224a37 79
Soldier7 0:5edc27224a37 80 /* Thread Servo 4 - handles the output data from the control thread, and pass to the servo.
Soldier7 0:5edc27224a37 81 @update s1, s2 */
Soldier7 0:5edc27224a37 82 void servo_thread(void const *args) {
Soldier7 0:5edc27224a37 83 while (true) {
Soldier7 0:5edc27224a37 84 mutexOut.lock();
Argensis 10:ca6f2769964e 85 tiltServo = outTilt;
Argensis 10:ca6f2769964e 86 panServo = outHoriz;
Argensis 10:ca6f2769964e 87 vertServo = outVert;
Soldier7 0:5edc27224a37 88 mutexOut.unlock();
Ali_taher 16:af76305da577 89 Thread::wait(250);
Soldier7 0:5edc27224a37 90 }
Soldier7 0:5edc27224a37 91 }
Ali_taher 16:af76305da577 92 /* Thread sonar 5 - handles the sonar values which can be in meter or normailsed value to one */
Ali_taher 16:af76305da577 93 void sonar_thread(void const *args) {
Ali_taher 16:af76305da577 94 while (true) {
Ali_taher 16:af76305da577 95 mutex_sonar.lock();
Ali_taher 16:af76305da577 96 distance = rf.read_m(); // read the distance from the sonar sensor in meter
Ali_taher 16:af76305da577 97 norm= distance/3.3; // normalised value from the sonar sensor
Ali_taher 16:af76305da577 98 printf("dis: %0.2f", distance);// Display the distance in meters from the sonar
Ali_taher 16:af76305da577 99 mutex_sonar.unlock();
Ali_taher 16:af76305da577 100 Thread::wait(250);
Ali_taher 16:af76305da577 101 }
Ali_taher 16:af76305da577 102 }
Soldier7 0:5edc27224a37 103 int main() {
Soldier7 0:5edc27224a37 104 Thread thread_1(serial_thread); // Start Serial Thread
Soldier7 0:5edc27224a37 105 Thread thread_2(lcd_thread); // Start LCD Thread
Argensis 10:ca6f2769964e 106 Thread thread_3(control_thread); // Start Servo Thread
Soldier7 0:5edc27224a37 107 Thread thread_4(servo_thread); // Start Servo Thread
Ali_taher 16:af76305da577 108 Thread thread_5(sonar_thread); // Start Servo Thread
Soldier7 0:5edc27224a37 109 while(1) {
Ali_taher 16:af76305da577 110
Argensis 9:e5d24b7a921b 111 wait(1);
Soldier7 0:5edc27224a37 112 }
Soldier7 0:5edc27224a37 113 }