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Dependencies: C12832 Servo mbed-rtos mbed
main.cpp
- Committer:
- Ali_taher
- Date:
- 2015-03-12
- Revision:
- 0:4029a02c2b49
File content as of revision 0:4029a02c2b49:
#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); } }