demo project
Dependencies: AX-12A Dynamixel mbed iothub_client EthernetInterface NTPClient ConfigFile SDFileSystem iothub_amqp_transport mbed-rtos proton-c-mbed wolfSSL
main.cpp@18:224289104fc0, 2016-01-23 (annotated)
- Committer:
- henryrawas
- Date:
- Sat Jan 23 00:08:30 2016 +0000
- Revision:
- 18:224289104fc0
- Parent:
- 13:ffeff9b5e513
- Child:
- 19:2f0ec9ac1238
refactor
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jepickett | 0:547ac906c46b | 1 | #include "mbed.h" |
henryrawas | 4:36a4eceb1b7f | 2 | #include "rtos.h" |
henryrawas | 4:36a4eceb1b7f | 3 | |
jepickett | 2:37021fb3b45b | 4 | #include <Terminal.h> |
henryrawas | 18:224289104fc0 | 5 | #include "ControllerIo.h" |
henryrawas | 7:6723f6887d00 | 6 | |
henryrawas | 4:36a4eceb1b7f | 7 | |
jepickett | 2:37021fb3b45b | 8 | using namespace std; |
jepickett | 0:547ac906c46b | 9 | |
jepickett | 2:37021fb3b45b | 10 | Terminal pc(USBTX, USBRX); |
henryrawas | 4:36a4eceb1b7f | 11 | |
henryrawas | 13:ffeff9b5e513 | 12 | extern void PrepareController(); |
henryrawas | 7:6723f6887d00 | 13 | extern void RunController(); |
henryrawas | 7:6723f6887d00 | 14 | extern bool StartIothubThread(); |
henryrawas | 4:36a4eceb1b7f | 15 | |
jepickett | 0:547ac906c46b | 16 | |
jepickett | 0:547ac906c46b | 17 | int main() |
jepickett | 0:547ac906c46b | 18 | { |
jepickett | 2:37021fb3b45b | 19 | pc.baud(115200); |
jepickett | 2:37021fb3b45b | 20 | |
jepickett | 2:37021fb3b45b | 21 | pc.cls(); |
jepickett | 2:37021fb3b45b | 22 | pc.foreground(Yellow); |
jepickett | 2:37021fb3b45b | 23 | pc.background(Black); |
jepickett | 2:37021fb3b45b | 24 | |
henryrawas | 8:d98e2dec0f40 | 25 | pc.locate(0, 0); |
jepickett | 2:37021fb3b45b | 26 | pc.printf("**********************\r\n"); |
jepickett | 2:37021fb3b45b | 27 | pc.printf("RobotArmDemo start\r\n"); |
jepickett | 2:37021fb3b45b | 28 | pc.printf("**********************\r\n"); |
jepickett | 2:37021fb3b45b | 29 | |
jepickett | 2:37021fb3b45b | 30 | pc.foreground(Teal); |
jepickett | 2:37021fb3b45b | 31 | pc.background(Black); |
jepickett | 2:37021fb3b45b | 32 | |
henryrawas | 10:9b21566a5ddb | 33 | ShowLedGreen(); |
henryrawas | 4:36a4eceb1b7f | 34 | |
henryrawas | 13:ffeff9b5e513 | 35 | // prepare the motion sequences |
henryrawas | 13:ffeff9b5e513 | 36 | PrepareController(); |
henryrawas | 13:ffeff9b5e513 | 37 | |
henryrawas | 4:36a4eceb1b7f | 38 | // start IotHub connection |
henryrawas | 4:36a4eceb1b7f | 39 | StartIothubThread(); |
jepickett | 2:37021fb3b45b | 40 | |
henryrawas | 4:36a4eceb1b7f | 41 | // time delay is to allow the position encoders to come online after initial power supply event ~ 5 secs |
henryrawas | 4:36a4eceb1b7f | 42 | // and to allow IoTHub SSL connection established |
henryrawas | 4:36a4eceb1b7f | 43 | Thread::wait(15000); |
henryrawas | 4:36a4eceb1b7f | 44 | |
henryrawas | 8:d98e2dec0f40 | 45 | pc.printf("Initialization done. Ready to run. \r\n"); |
jepickett | 2:37021fb3b45b | 46 | |
henryrawas | 13:ffeff9b5e513 | 47 | // try running this thread at a higher priority |
henryrawas | 13:ffeff9b5e513 | 48 | osThreadId maintid = osThreadGetId(); |
henryrawas | 13:ffeff9b5e513 | 49 | osThreadSetPriority(maintid, osPriorityHigh); |
henryrawas | 13:ffeff9b5e513 | 50 | |
henryrawas | 7:6723f6887d00 | 51 | RunController(); |
henryrawas | 4:36a4eceb1b7f | 52 | } |