Diff: main.cpp

Revision:

15:1e53fa116948

Parent:

13:aef2afe73bc6

--- a/main.cpp	Mon Feb 02 13:02:36 2015 +0000
+++ b/main.cpp	Mon Feb 09 16:22:25 2015 +0000
@@ -5,76 +5,67 @@
 Servo s1(p21);
 Servo s2(p22);
 
-AnalogIn p1(p19); // Sonar sensor 1
+AnalogIn p1(p19); // Sonar sensor 1 17 for the sensor or 19 for the potential meter.
 //AnalogIn p2(p20); // Sonar sensor 2 (not used yet)
-Mutex input_data_mutex;
-Mutex output_data_mutex;
+Mutex inData_mutex;
+Mutex outData_mutex;
 
 // Globel variables
-float input_data;
-float output_data;
+float inData;
+float outData;
 C12832 lcd(p5, p7, p6, p8, p11);// lcd is an object from class c12832 initialised by p5,p7....
 
 /* Thread Sonar - handles the input data from the sonar sensor, and display on the LCD screen.
-    @update input_data
-    */
-void sonar_thread(void const *args)
-{
-    float anVolt;
-    float sum=0; //Create sum variable so it can be averaged
-    float avg=60.00; //Quantity of values to average (sample size)
-    // Loop for
+    @update inData */
+void sonar_thread(void const *args) {
     while (true) {
-        input_data_mutex.lock();
-//        // Average the calculation
-//        if (avg>=60) {
-//            sum=0;
-//        }
-//        // Read input and return 
-//        for(int i = 0; i < avg ; i++) {
-//            anVolt = p1.read(); /
-//            sum += anVolt;
-//       }
-//        // Update output_data global variable
-//        output_data = sum/avg; 
-        output_data=p1.read()*5;
-        // Display values on the LCD screen
-        lcd.cls();      // clear the display
-        lcd.locate(0,3);// the location where you want your charater to be displayed
-        //lcd.printf("Input = %f\n", input_data);
-        lcd.printf("Output = %f\n", output_data);
-        // Handles the thread
-        input_data_mutex.unlock();
+        inData_mutex.lock();
+        inData = p1.read();
+        inData_mutex.unlock();
         Thread::wait(25);
     }
 }
 
-/* Thread Control -  */
-void control_thread(void const *args)
-{
+/* Thread Control - 
+    @update outData */
+void control_thread(void const *args) {
     while (true) {
-        input_data_mutex.lock();
-        output_data_mutex.lock();
-        // Modification on the input_data and assign to servo2
-        if (output_data<4) {
-            s2 = -output_data; // move backwards
-        } else if(output_data<2) {
-            s2=output_data; // keep tracking the object
-        }
-        // Assign input_data to servo1 without modification
-        s1=input_data;
+        inData_mutex.lock();
+        outData_mutex.lock();
+        // The servo works from 0 to 1 volt and in approx 110 degree
+        float voltage = inData; // local variable to play with
+        // Logic code comes here
+        
+        outData = voltage;  // Update output_data global variable
+        // Display values on the LCD screen
+        lcd.cls();      // clear the display
+        lcd.locate(0,3);// the location where you want your charater to be displayed
+        lcd.printf("In: %f, Out: %f", inData, outData);
         // Handles the thread
-        input_data_mutex.unlock();
-        output_data_mutex.unlock();
+        inData_mutex.unlock();
+        outData_mutex.unlock();
         Thread::wait(20);
     }
 }
 
+/* Thread Servo - handles the output data from the control thread, and pass to the servo.
+    @update s1, s2 */
+void servo_thread(void const *args) {
+    while (true) {
+        outData_mutex.lock();
+        s1 = outData;
+        s2 = outData;
+        outData_mutex.unlock();
+        Thread::wait(25);
+    }
+}
+
 /* Main method - Start threads and delay them by waiting. */
 int main()
 {
-    Thread thread(sonar_thread); // Start Sonar Thread
-    Thread thread_1(control_thread); // Start Control Thread
+    Thread thread_1(sonar_thread); // Start Sonar Thread
+    Thread thread_2(control_thread); // Start Control Thread
+    Thread thread_3(servo_thread); // Start Servo Thread
     // Delay the threads
     while (true) {
         Thread::wait(10);