Ali Alshaqaq / Team_Sprint2

sonar sensor is working in the version of code but the reading are not correct

Dependencies:   C12832 Pulse RangeFinder Servo mbed rtos

Fork of Team_Sprint2 by WIT_EmbOS_Gr1

main.cpp@7:24d62ef1ed34, 2015-03-23 (annotated)

Committer:
Soldier7
Date:
Mon Mar 23 18:07:16 2015 +0000
Revision:
7:24d62ef1ed34
Parent:
4:70090f3b1f07
Child:
8:fe434a018d96
Started up-down servo control.  Not working.  Readme added.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Soldier7 0:5edc27224a37 1 #include "mbed.h"
Soldier7 0:5edc27224a37 2 #include "rtos.h"
Soldier7 0:5edc27224a37 3 #include "Servo.h"
Soldier7 0:5edc27224a37 4 #include "C12832.h"
Soldier7 7:24d62ef1ed34 5 //Servo sPan(p21);
Soldier7 7:24d62ef1ed34 6 Servo sTilt(p22);
Soldier7 0:5edc27224a37 7 Serial pc(USBTX, USBRX);
Soldier7 7:24d62ef1ed34 8 Servo sVert(p21); // temporary assigned 21 for testing
Soldier7 0:5edc27224a37 9 Mutex mutexIn;
Soldier7 0:5edc27224a37 10 Mutex mutexOut;
Soldier7 4:70090f3b1f07 11
Soldier7 4:70090f3b1f07 12 AnalogIn p1(p19);
Soldier7 4:70090f3b1f07 13 AnalogIn p2(p20);
Soldier7 0:5edc27224a37 14
Soldier7 0:5edc27224a37 15 // Globel variables
Ali_taher 2:b109a4eb9b0d 16 char cordinates[20];
Ali_taher 3:3d53799c2f18 17 char corHoriz[20];
Soldier7 4:70090f3b1f07 18 char corVert[20];
PaulF 1:28ea653772dc 19 //float corDeep;
Soldier7 4:70090f3b1f07 20 float outVert;
PaulF 1:28ea653772dc 21 //float outHoriz;
Soldier7 0:5edc27224a37 22 C12832 lcd(p5, p7, p6, p8, p11);// lcd is an object from class c12832 initialised by p5,p7....
Soldier7 0:5edc27224a37 23
Soldier7 0:5edc27224a37 24 /* Thread Serial 1 - handles the output data from the control thread, and pass to the servo.
Soldier7 0:5edc27224a37 25 @update s1, s2 */
Soldier7 0:5edc27224a37 26 void serial_thread(void const *args) {
Soldier7 0:5edc27224a37 27 while (true) {
Soldier7 0:5edc27224a37 28 mutexIn.lock();
Ali_taher 2:b109a4eb9b0d 29 // pc.gets(cordinates,4);
Ali_taher 2:b109a4eb9b0d 30 // cordinates = pc.putc(pc.getc());
Soldier7 4:70090f3b1f07 31 pc.scanf("%s \n %s \n ",corHoriz,corVert);// read from serial port the data
Soldier7 0:5edc27224a37 32 mutexIn.unlock();
Soldier7 0:5edc27224a37 33 Thread::wait(200);
Soldier7 0:5edc27224a37 34 }
Soldier7 0:5edc27224a37 35 }
Soldier7 0:5edc27224a37 36
Soldier7 0:5edc27224a37 37 /* Thread LCD 2 - handles the input data from the sonar sensor, and display on the LCD screen.
Soldier7 0:5edc27224a37 38 @update inData */
Soldier7 0:5edc27224a37 39 void lcd_thread(void const *args) {
Soldier7 0:5edc27224a37 40 while (true) {
Soldier7 0:5edc27224a37 41 mutexIn.lock();
Soldier7 0:5edc27224a37 42 mutexOut.lock();
Soldier7 0:5edc27224a37 43 // Display values on the LCD screen
Soldier7 0:5edc27224a37 44 lcd.cls(); // clear the display
Soldier7 4:70090f3b1f07 45 lcd.locate(0,5); // the location where you want your charater to be displayed
Soldier7 4:70090f3b1f07 46 lcd.printf("Hor:%s",corHoriz);
Ali_taher 3:3d53799c2f18 47 lcd.locate(0,20); // the location where you want your charater to be displayed
Soldier7 4:70090f3b1f07 48 lcd.printf("Ver%s", corVert);
Soldier7 0:5edc27224a37 49 mutexIn.unlock();
Soldier7 0:5edc27224a37 50 mutexOut.unlock();
Soldier7 0:5edc27224a37 51 Thread::wait(25);
Soldier7 0:5edc27224a37 52 }
Soldier7 0:5edc27224a37 53 }
Soldier7 0:5edc27224a37 54
Soldier7 0:5edc27224a37 55 /* Thread Control 3 - handles the input data from the sonar sensor, and display on the LCD screen.
Soldier7 0:5edc27224a37 56 @update inData */
Soldier7 0:5edc27224a37 57 void control_thread(void const *args) {
Soldier7 0:5edc27224a37 58 while (true) {
Soldier7 0:5edc27224a37 59 mutexIn.lock();
Soldier7 0:5edc27224a37 60 // The control code will come here
Soldier7 7:24d62ef1ed34 61 // if (corHoriz[1]=='1')
Soldier7 7:24d62ef1ed34 62 // s1 = s1 + 0.25;
Soldier7 7:24d62ef1ed34 63 // if (corHoriz[1]=='2')
Soldier7 7:24d62ef1ed34 64 // s1 = s1 - 0.25;
Soldier7 7:24d62ef1ed34 65 if (corVert > .5) { // check if face is below the half of the camera view
Soldier7 7:24d62ef1ed34 66 if (outVert > .5) { // check if lamp head is facing down
Soldier7 7:24d62ef1ed34 67 sVert = ; // moves lamp down by the fraction of the difference from the middle
Soldier7 0:5edc27224a37 68 mutexIn.unlock();
Soldier7 0:5edc27224a37 69 Thread::wait(25);
Soldier7 0:5edc27224a37 70 }
Soldier7 0:5edc27224a37 71 }
Soldier7 0:5edc27224a37 72
Soldier7 0:5edc27224a37 73 /* Thread Servo 4 - handles the output data from the control thread, and pass to the servo.
Soldier7 0:5edc27224a37 74 @update s1, s2 */
Soldier7 0:5edc27224a37 75 void servo_thread(void const *args) {
Soldier7 0:5edc27224a37 76 while (true) {
Soldier7 0:5edc27224a37 77 mutexOut.lock();
Soldier7 0:5edc27224a37 78 // s1 = outVert;
Soldier7 0:5edc27224a37 79 // s2 = outHoriz;
Soldier7 0:5edc27224a37 80 mutexOut.unlock();
Soldier7 0:5edc27224a37 81 Thread::wait(200);
Soldier7 0:5edc27224a37 82 }
Soldier7 0:5edc27224a37 83 }
Soldier7 0:5edc27224a37 84
Soldier7 0:5edc27224a37 85 int main() {
Soldier7 0:5edc27224a37 86 Thread thread_1(serial_thread); // Start Serial Thread
Soldier7 0:5edc27224a37 87 Thread thread_2(lcd_thread); // Start LCD Thread
Soldier7 0:5edc27224a37 88 Thread thread_3(control_thread); // Start Control Thread
Soldier7 0:5edc27224a37 89 Thread thread_4(servo_thread); // Start Servo Thread
Soldier7 0:5edc27224a37 90 while(1) {
Soldier7 0:5edc27224a37 91 Thread::wait(10);
Soldier7 0:5edc27224a37 92 }
Soldier7 0:5edc27224a37 93 }