Revision 5:301515ccaddc, committed 2015-03-27

Comitter:

baraki

Date:

Fri Mar 27 15:32:29 2015 +0000

Parent:

4:91d5db5e8c9f

Commit message:

works with rtos timer now and we have all 7 pwms

Changed in this revision

--- a/main.cpp	Fri Mar 27 14:36:29 2015 +0000
+++ b/main.cpp	Fri Mar 27 15:32:29 2015 +0000
@@ -1,40 +1,37 @@
 #include "mbed.h"
 #include "math.h"
 #include "bluetoothComm.h"
+#include "rtos.h"
 #define BT_BAUD 9600
-#define NUM_LRAS 6
+#define NUM_LRAS 7
 #define NUM_ENS NUM_LRAS
 
-// bluetooth serial
-// p9 - tx, p10 - rx
-Timer timer;
-
-//DigitalOut leds[4] = {
-//   DigitalOut(LED1), DigitalOut(LED2), DigitalOut(LED3), DigitalOut(LED4)
-//};
-
-//int leds[NUM_LRAS];
 
 PwmOut lra[NUM_LRAS] = {
-    PwmOut(p5), PwmOut(p6),PwmOut(p20),
+    PwmOut(p5), PwmOut(p6),PwmOut(p17),PwmOut(p20),
     PwmOut(p25),PwmOut(p26),PwmOut(p34)
 };
-//,PwmOut(p17)
-
-//int lra[NUM_LRAS];
-//int lra_en[NUM_ENS];
 
 DigitalOut lra_en[NUM_ENS] = {
-   DigitalOut(p7), DigitalOut(p8),DigitalOut(p12),
+   DigitalOut(p7), DigitalOut(p8),DigitalOut(p11),DigitalOut(p12),
     DigitalOut(p13),DigitalOut(p29),DigitalOut(p30)
 };
-DigitalOut en3(p11);
+
 int lraOn_ms[NUM_LRAS];
 int lraPeriod_ms[NUM_LRAS];
 float lraIntensity[NUM_LRAS];
 
+RtosTimer* timer;
+unsigned long counter_ms;
+
+void timer_cb(void const *n)
+{
+    counter_ms += 10;
+}
+
 void processData(char *n)
 {
+    //try to take these variables out and make them globals to speed processing
     int i = 0;
     int index = 0;
     int which = 0;
@@ -97,13 +94,17 @@
 
 int main (void)
 {
-    en3 = 0;
     //Init communication
     robotSetup(BT_BAUD); //set baud rate of bluetooth connection
     //start universal timer to count up a counter
-    timer.start();
-    timer.reset();
-    int counter_ms = timer.read_ms();
+    //timer.start();
+    //timer.reset();
+    //int counter_ms = timer.read_ms();
+    Thread::wait(100);
+    timer = new RtosTimer(timer_cb,osTimerPeriodic); // adjust prorioty of osTimerThread ?
+    counter_ms=0;
+    timer->start(10); //run timer every millisecond - arg is the time delay.
+
 
     //initialize and start everything
     int startTime_ms[NUM_LRAS];
@@ -141,7 +142,7 @@
         }
         for(int n=0;n<NUM_LRAS;n++){
             // lra_fun
-            counter_ms = timer.read_ms();
+            //counter_ms = timer.read_ms();
             elapsed_ms[n] = (int)(counter_ms-startTime_ms[n]);
             if(isOn[n]) {
                 leftToWait_ms[n] = lraOn_ms[n] - elapsed_ms[n];
@@ -149,7 +150,7 @@
                     lra[n] = lraIntensity[n]; //adjust intensity according to current value
 
                 } else {
-                    console1.printf("Turning motor off\n");
+                    //console1.printf("Turning motor off\n");
                     isOn[n] = false;
                     //Set LRA PWM to 0.5
                     lra[n] = 0.5f; // that turns off the motor!
@@ -159,18 +160,18 @@
             }
             else {
                 leftToWait_ms[n] = lraPeriod_ms[n] - elapsed_ms[n];    
-                if(n == 1){
+                if(n == 1 && false){
                     console1.printf("leftToWait_ms[n] = %d\n",leftToWait_ms[n]);
                     console1.printf("elapsed_ms[n] = %d\n",elapsed_ms[n]);
                    }
                 if(leftToWait_ms[n] < 0) {
-                    console1.printf("Turning motor on\n");
+                    //console1.printf("Turning motor on\n");
                     isOn[n] = true;
                     //Set LRA PWM to desired intensity
                     lra[n] = lraIntensity[n]; // that turns on the motor!
                     //Turn LRA On by setting enable pin to 1
                     lra_en[n] = 1; 
-                    startTime_ms[n] = timer.read_ms();
+                    startTime_ms[n] = counter_ms;//timer.read_ms();
                 }
             }
         }

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-rtos.lib	Fri Mar 27 15:32:29 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed-rtos/#d3d0e710b443