Revision 24:de4d6a06011b, committed 2015-04-20

Comitter:

Ali_taher

Date:

Mon Apr 20 13:06:40 2015 +0000

Parent:

16:af76305da577

Commit message:

adding the sonar reading and servo movements when there is any object within the 3 meters

Changed in this revision

--- a/main.cpp	Fri Apr 17 10:12:20 2015 +0000
+++ b/main.cpp	Mon Apr 20 13:06:40 2015 +0000
@@ -26,18 +26,22 @@
 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.
+p23 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);
+RangeFinder rf(p23, 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) {
+      // I have problem in this thread the sonar reading is not correct if this thread is used 
+      
         pc.scanf("%f,%f", &corHoriz, &corVert);// read from serial port the data
+       
+       
     }
 }
  
@@ -45,7 +49,7 @@
     @update inData */
 void lcd_thread(void const *args) {
     while (true) {
-        mutex_sonar.lock();
+      mutex_sonar.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
@@ -81,33 +85,52 @@
     @update s1, s2 */
 void servo_thread(void const *args) {
     while (true) {
+       //  mutex_sonar.lock();
         mutexOut.lock();
         tiltServo = outTilt;
         panServo = outHoriz;
         vertServo = outVert;
+        
+        /* if the distance more than 3 meters the servo will mover full range CW and CCW*/
+        for(int i=0; i<100; i++) {
+             if (distance>=2)
+             {
+             tiltServo = i/100.0;
+             Thread::wait(25);
+             }
+         }
+         for(int i=100; i>0; i--) {
+             if (distance>=2)
+             {
+             tiltServo = i/100.0;
+            Thread:: wait(25);
+            }
+         }
+         tiltServo.position(0.0);
+       // mutex_sonar.unlock();
         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);
-    }
+    while (1) {
+       
 }
+ }
 int main() {
-    Thread thread_1(serial_thread); // Start Serial Thread
-    Thread thread_2(lcd_thread); // Start LCD Thread
+ //  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);
+        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
+        mutex_sonar.unlock();
+        Thread::wait(25);
     }
 }

--- a/main.cpp.orig	Fri Apr 17 10:12:20 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,92 +0,0 @@
-#include "mbed.h"
-#include "rtos.h"
-#include "Servo.h"
-#include "C12832.h"
-Servo sPan(p21);
-Servo sTilt(p22);
-Serial pc(USBTX, USBRX);
-Servo sVert(p23);
-Sonar distance(p24);
-Mutex mutexIn;
-Mutex mutexOut;
- 
-AnalogIn p1(p19);
-AnalogIn p2(p20);
-
-// Global variables
-float corHoriz; // horizontal variable arrives from OpenCV
-float corVert; // vertical variable arrives from OpenCV
-float distance; // distance measured by the sonar
-float outVert; // rr
-float outTilt;
-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();
-        float differ;
-        differ = exp(corVert + sonar * outTilt) / (1 + exp(corVert + sonar * outTilt));
-        if (corVert > .5) { // check if face is below the half of the camera view
-            if (outTilt > .5) { // check if lamp head is facing down
-                // 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();
-        sTi1t = outTilt;
-        sPan = outHoriz;
-        sVert = outVert;
-        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);
-    }
-}