Diff: main.cpp

Revision:

0:4029a02c2b49

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Mar 12 16:47:59 2015 +0000
@@ -0,0 +1,98 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "Servo.h"
+#include "C12832.h"
+Servo motor(p21);
+Servo s2(p22);
+Serial pc(USBTX, USBRX);
+Mutex mutexIn;
+Mutex mutexOut;
+
+AnalogIn p1(p19);
+AnalogIn p2(p20);
+
+// Globel variables
+char cordinates[20];
+char corHoriz[20];
+char corVertic[20];
+//float corDeep;
+float outVert;
+//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,corVertic);// read from serial port the data
+         // look for carriage return and assign the first number of to the cordinates and then the second to corHiz 
+         
+         //corHoriz=cordinates;
+        // corHoriz=(cordinates[0]+cordinates[1]+cordinates[2]+cordinates[3]);
+        // corVertic=(cordinates[4]+cordinates[5]+cordinates[6]+cordinates[7]);
+        Thread::wait(200);
+        //corVertic = cordinates[1];
+//        corDeep = cordinates[2];
+        mutexIn.unlock();
+        
+    }
+}
+ 
+/* 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("hors%s", corHoriz);
+        lcd.locate(0,20);    // the location where you want your charater to be displayed
+        lcd.printf("Ver%s", corVertic);
+        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();
+        // The control code will come here
+        if (corHoriz[1]=='1')
+        motor =motor+0.25;
+        else
+        motor=motor-0.25;
+        
+        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();
+//        s1 = outVert;
+//        s2 = outHoriz;
+        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);
+    }
+}