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@1:28ea653772dc, 2015-02-26 (annotated)

Committer:
PaulF
Date:
Thu Feb 26 17:31:40 2015 +0000
Revision:
1:28ea653772dc
Parent:
0:5edc27224a37
Child:
2:b109a4eb9b0d
Testing characters

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 0:5edc27224a37 5 Servo s1(p21);
Soldier7 0:5edc27224a37 6 Servo s2(p22);
Soldier7 0:5edc27224a37 7 Serial pc(USBTX, USBRX);
Soldier7 0:5edc27224a37 8 Mutex mutexIn;
Soldier7 0:5edc27224a37 9 Mutex mutexOut;
Soldier7 0:5edc27224a37 10
Soldier7 0:5edc27224a37 11 // Globel variables
PaulF 1:28ea653772dc 12 char cordinates[3];
PaulF 1:28ea653772dc 13 char corHoriz;
PaulF 1:28ea653772dc 14 char corVertic;
PaulF 1:28ea653772dc 15 //float corDeep;
PaulF 1:28ea653772dc 16 //float outVert;
PaulF 1:28ea653772dc 17 //float outHoriz;
Soldier7 0:5edc27224a37 18 C12832 lcd(p5, p7, p6, p8, p11);// lcd is an object from class c12832 initialised by p5,p7....
Soldier7 0:5edc27224a37 19
Soldier7 0:5edc27224a37 20 /* Thread Serial 1 - handles the output data from the control thread, and pass to the servo.
Soldier7 0:5edc27224a37 21 @update s1, s2 */
Soldier7 0:5edc27224a37 22 void serial_thread(void const *args) {
Soldier7 0:5edc27224a37 23 while (true) {
Soldier7 0:5edc27224a37 24 mutexIn.lock();
PaulF 1:28ea653772dc 25 pc.gets(cordinates,2);
PaulF 1:28ea653772dc 26 // cordinates = pc.putc(pc.getc());
Soldier7 0:5edc27224a37 27 corHoriz = cordinates[0];
Soldier7 0:5edc27224a37 28 corVertic = cordinates[1];
PaulF 1:28ea653772dc 29 // corDeep = cordinates[2];
Soldier7 0:5edc27224a37 30 mutexIn.unlock();
Soldier7 0:5edc27224a37 31 Thread::wait(200);
Soldier7 0:5edc27224a37 32 }
Soldier7 0:5edc27224a37 33 }
Soldier7 0:5edc27224a37 34
Soldier7 0:5edc27224a37 35 /* Thread LCD 2 - handles the input data from the sonar sensor, and display on the LCD screen.
Soldier7 0:5edc27224a37 36 @update inData */
Soldier7 0:5edc27224a37 37 void lcd_thread(void const *args) {
Soldier7 0:5edc27224a37 38 while (true) {
Soldier7 0:5edc27224a37 39 mutexIn.lock();
Soldier7 0:5edc27224a37 40 mutexOut.lock();
Soldier7 0:5edc27224a37 41 // Display values on the LCD screen
Soldier7 0:5edc27224a37 42 lcd.cls(); // clear the display
Soldier7 0:5edc27224a37 43 lcd.locate(0,3); // the location where you want your charater to be displayed
PaulF 1:28ea653772dc 44 lcd.printf("Hor: %c, Vert: %c, ", corHoriz, corVertic );
Soldier7 0:5edc27224a37 45 mutexIn.unlock();
Soldier7 0:5edc27224a37 46 mutexOut.unlock();
Soldier7 0:5edc27224a37 47 Thread::wait(25);
Soldier7 0:5edc27224a37 48 }
Soldier7 0:5edc27224a37 49 }
Soldier7 0:5edc27224a37 50
Soldier7 0:5edc27224a37 51 /* Thread Control 3 - handles the input data from the sonar sensor, and display on the LCD screen.
Soldier7 0:5edc27224a37 52 @update inData */
Soldier7 0:5edc27224a37 53 void control_thread(void const *args) {
Soldier7 0:5edc27224a37 54 while (true) {
Soldier7 0:5edc27224a37 55 mutexIn.lock();
Soldier7 0:5edc27224a37 56 // The control code will come here
Soldier7 0:5edc27224a37 57
Soldier7 0:5edc27224a37 58 mutexIn.unlock();
Soldier7 0:5edc27224a37 59 Thread::wait(25);
Soldier7 0:5edc27224a37 60 }
Soldier7 0:5edc27224a37 61 }
Soldier7 0:5edc27224a37 62
Soldier7 0:5edc27224a37 63 /* Thread Servo 4 - handles the output data from the control thread, and pass to the servo.
Soldier7 0:5edc27224a37 64 @update s1, s2 */
Soldier7 0:5edc27224a37 65 void servo_thread(void const *args) {
Soldier7 0:5edc27224a37 66 while (true) {
Soldier7 0:5edc27224a37 67 mutexOut.lock();
Soldier7 0:5edc27224a37 68 // s1 = outVert;
Soldier7 0:5edc27224a37 69 // s2 = outHoriz;
Soldier7 0:5edc27224a37 70 mutexOut.unlock();
Soldier7 0:5edc27224a37 71 Thread::wait(200);
Soldier7 0:5edc27224a37 72 }
Soldier7 0:5edc27224a37 73 }
Soldier7 0:5edc27224a37 74
Soldier7 0:5edc27224a37 75 int main() {
Soldier7 0:5edc27224a37 76 Thread thread_1(serial_thread); // Start Serial Thread
Soldier7 0:5edc27224a37 77 Thread thread_2(lcd_thread); // Start LCD Thread
Soldier7 0:5edc27224a37 78 Thread thread_3(control_thread); // Start Control Thread
Soldier7 0:5edc27224a37 79 Thread thread_4(servo_thread); // Start Servo Thread
Soldier7 0:5edc27224a37 80 while(1) {
Soldier7 0:5edc27224a37 81 Thread::wait(10);
Soldier7 0:5edc27224a37 82 }
Soldier7 0:5edc27224a37 83 }