WIT_EmbOS_Gr1
ll
Dependencies: C12832 Servo mbed-rtos mbed
Revision 0:4029a02c2b49, committed 2015-03-12
- Comitter:
- Ali_taher
- Date:
- Thu Mar 12 16:47:59 2015 +0000
- Commit message:
- the main one is not working, a newer version is created
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/C12832.lib Thu Mar 12 16:47:59 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/chris/code/C12832/#7de323fa46fe
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Thu Mar 12 16:47:59 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Servo/#36b69a7ced07
--- /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);
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Thu Mar 12 16:47:59 2015 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/mbed_official/code/mbed-rtos/#d3d0e710b443
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Mar 12 16:47:59 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/4fc01daae5a5 \ No newline at end of file