demo project
Dependencies: AX-12A Dynamixel mbed iothub_client EthernetInterface NTPClient ConfigFile SDFileSystem iothub_amqp_transport mbed-rtos proton-c-mbed wolfSSL
main.cpp@24:f6aa0e64c5e1, 2016-01-27 (annotated)
- Committer:
- henryrawas
- Date:
- Wed Jan 27 19:59:21 2016 +0000
- Revision:
- 24:f6aa0e64c5e1
- Parent:
- 19:2f0ec9ac1238
- Child:
- 26:6def77499117
make up/down repeat
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
henryrawas | 19:2f0ec9ac1238 | 1 | // Copyright (c) Microsoft. All rights reserved. |
henryrawas | 19:2f0ec9ac1238 | 2 | // Licensed under the MIT license. See LICENSE file in the project root for full license information. |
henryrawas | 19:2f0ec9ac1238 | 3 | |
jepickett | 0:547ac906c46b | 4 | #include "mbed.h" |
henryrawas | 4:36a4eceb1b7f | 5 | #include "rtos.h" |
henryrawas | 4:36a4eceb1b7f | 6 | |
jepickett | 2:37021fb3b45b | 7 | #include <Terminal.h> |
henryrawas | 18:224289104fc0 | 8 | #include "ControllerIo.h" |
henryrawas | 7:6723f6887d00 | 9 | |
henryrawas | 4:36a4eceb1b7f | 10 | |
jepickett | 2:37021fb3b45b | 11 | using namespace std; |
jepickett | 0:547ac906c46b | 12 | |
jepickett | 2:37021fb3b45b | 13 | Terminal pc(USBTX, USBRX); |
henryrawas | 4:36a4eceb1b7f | 14 | |
henryrawas | 13:ffeff9b5e513 | 15 | extern void PrepareController(); |
henryrawas | 7:6723f6887d00 | 16 | extern void RunController(); |
henryrawas | 7:6723f6887d00 | 17 | extern bool StartIothubThread(); |
henryrawas | 4:36a4eceb1b7f | 18 | |
jepickett | 0:547ac906c46b | 19 | |
jepickett | 0:547ac906c46b | 20 | int main() |
jepickett | 0:547ac906c46b | 21 | { |
jepickett | 2:37021fb3b45b | 22 | pc.baud(115200); |
jepickett | 2:37021fb3b45b | 23 | |
jepickett | 2:37021fb3b45b | 24 | pc.cls(); |
jepickett | 2:37021fb3b45b | 25 | pc.foreground(Yellow); |
jepickett | 2:37021fb3b45b | 26 | pc.background(Black); |
jepickett | 2:37021fb3b45b | 27 | |
henryrawas | 8:d98e2dec0f40 | 28 | pc.locate(0, 0); |
jepickett | 2:37021fb3b45b | 29 | pc.printf("**********************\r\n"); |
jepickett | 2:37021fb3b45b | 30 | pc.printf("RobotArmDemo start\r\n"); |
jepickett | 2:37021fb3b45b | 31 | pc.printf("**********************\r\n"); |
jepickett | 2:37021fb3b45b | 32 | |
jepickett | 2:37021fb3b45b | 33 | pc.foreground(Teal); |
jepickett | 2:37021fb3b45b | 34 | pc.background(Black); |
jepickett | 2:37021fb3b45b | 35 | |
henryrawas | 10:9b21566a5ddb | 36 | ShowLedGreen(); |
henryrawas | 4:36a4eceb1b7f | 37 | |
henryrawas | 13:ffeff9b5e513 | 38 | // prepare the motion sequences |
henryrawas | 13:ffeff9b5e513 | 39 | PrepareController(); |
henryrawas | 13:ffeff9b5e513 | 40 | |
henryrawas | 4:36a4eceb1b7f | 41 | // start IotHub connection |
henryrawas | 4:36a4eceb1b7f | 42 | StartIothubThread(); |
jepickett | 2:37021fb3b45b | 43 | |
henryrawas | 4:36a4eceb1b7f | 44 | // time delay is to allow the position encoders to come online after initial power supply event ~ 5 secs |
henryrawas | 24:f6aa0e64c5e1 | 45 | Thread::wait(5000); |
henryrawas | 4:36a4eceb1b7f | 46 | |
henryrawas | 8:d98e2dec0f40 | 47 | pc.printf("Initialization done. Ready to run. \r\n"); |
jepickett | 2:37021fb3b45b | 48 | |
henryrawas | 13:ffeff9b5e513 | 49 | // try running this thread at a higher priority |
henryrawas | 13:ffeff9b5e513 | 50 | osThreadId maintid = osThreadGetId(); |
henryrawas | 13:ffeff9b5e513 | 51 | osThreadSetPriority(maintid, osPriorityHigh); |
henryrawas | 13:ffeff9b5e513 | 52 | |
henryrawas | 7:6723f6887d00 | 53 | RunController(); |
henryrawas | 4:36a4eceb1b7f | 54 | } |