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@20:5dfebb54cdbd, 2015-04-20 (annotated)

Committer:
Soldier7
Date:
Mon Apr 20 13:34:28 2015 +0000
Revision:
20:5dfebb54cdbd
Parent:
17:4730277de7c2
Child:
21:32270b453137
Modified differ by subtract and multiply the values. Better, but still doesn't work.

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"
Argensis 9:e5d24b7a921b 5
Soldier7 16:74733a28eb80 6 Servo tiltServo(p24);
Soldier7 16:74733a28eb80 7 Servo panServo(p25);
Soldier7 0:5edc27224a37 8 Serial pc(USBTX, USBRX);
Argensis 10:ca6f2769964e 9 Servo vertServo(p23);
Soldier7 17:4730277de7c2 10
Soldier7 16:74733a28eb80 11 AnalogIn sonar(p19); // temporary changed to potmeter
Soldier7 20:5dfebb54cdbd 12 AnalogIn corVert(p20); // temporary
Soldier7 0:5edc27224a37 13 Mutex mutexIn;
Soldier7 0:5edc27224a37 14 Mutex mutexOut;
Soldier7 0:5edc27224a37 15
Soldier7 8:fe434a018d96 16 // Global variables
Soldier7 17:4730277de7c2 17 float corHoriz = 0.5; // horizontal variable arrives from OpenCV
Soldier7 20:5dfebb54cdbd 18 //float corVert = 0.5; // vertical variable arrives from OpenCV
Soldier7 20:5dfebb54cdbd 19 float corVert1 = 0.5; // temporary
Soldier7 17:4730277de7c2 20 float distance = 0.5; // distance from the sonar sensor
Soldier7 16:74733a28eb80 21 float outVert; // output to vertical servo
Soldier7 16:74733a28eb80 22 float outTilt; // output to tilt servo
Soldier7 16:74733a28eb80 23 float outHoriz; // output to horizontal servo
Soldier7 17:4730277de7c2 24 float differ; // temporary global. Can be local.
Soldier7 16:74733a28eb80 25 C12832 lcd(p5, p7, p6, p8, p11);// lcd is an object from class c12832 initialised by p5, p7....
Soldier7 0:5edc27224a37 26
Soldier7 0:5edc27224a37 27 /* Thread Serial 1 - handles the output data from the control thread, and pass to the servo.
Soldier7 0:5edc27224a37 28 @update s1, s2 */
Soldier7 14:f6d4980c48d6 29 void serial_thread(void const *args)
Soldier7 14:f6d4980c48d6 30 {
Soldier7 0:5edc27224a37 31 while (true) {
Soldier7 20:5dfebb54cdbd 32 pc.scanf("%f,%f", &corHoriz, &corVert1);// read from serial port the data
Soldier7 0:5edc27224a37 33 }
Soldier7 0:5edc27224a37 34 }
Soldier7 14:f6d4980c48d6 35
Soldier7 0:5edc27224a37 36 /* Thread LCD 2 - handles the input data from the sonar sensor, and display on the LCD screen.
Soldier7 0:5edc27224a37 37 @update inData */
Soldier7 14:f6d4980c48d6 38 void lcd_thread(void const *args)
Soldier7 14:f6d4980c48d6 39 {
Soldier7 0:5edc27224a37 40 while (true) {
Soldier7 0:5edc27224a37 41 // Display values on the LCD screen
Soldier7 0:5edc27224a37 42 lcd.cls(); // clear the display
Soldier7 20:5dfebb54cdbd 43 lcd.locate(0,1); // the location where you want your charater to be displayed
Soldier7 17:4730277de7c2 44 lcd.printf("differ: %0.3f, OutTilt: %0.3f", differ, outTilt);
Soldier7 20:5dfebb54cdbd 45 lcd.locate(0,9); // the location where you want your charater to be displayed
Soldier7 20:5dfebb54cdbd 46 lcd.printf("Vert: %0.3f, OutVert: %0.3f", corVert.read(), outVert);
Soldier7 20:5dfebb54cdbd 47 //lcd.locate(0,18); // the location where you want your charater to be displayed
Soldier7 20:5dfebb54cdbd 48 //lcd.printf("Sonar: %0.3f", sonar.read());
Argensis 9:e5d24b7a921b 49 Thread::wait(250);
Soldier7 0:5edc27224a37 50 }
Soldier7 0:5edc27224a37 51 }
Soldier7 0:5edc27224a37 52
Soldier7 0:5edc27224a37 53 /* Thread Control 3 - handles the input data from the sonar sensor, and display on the LCD screen.
Soldier7 0:5edc27224a37 54 @update inData */
Soldier7 14:f6d4980c48d6 55 void control_thread(void const *args)
Soldier7 14:f6d4980c48d6 56 {
Soldier7 0:5edc27224a37 57 while (true) {
Soldier7 0:5edc27224a37 58 mutexIn.lock();
Soldier7 17:4730277de7c2 59 //float differ;
Soldier7 20:5dfebb54cdbd 60 differ = ((exp(corVert + sonar * outTilt) / (1 + exp(corVert + sonar * outTilt))) - .49 ) * 2.5;
Soldier7 20:5dfebb54cdbd 61 if (corVert > 0 && corVert < 1) { // if corVert is valid (between 0 - 1) then do movements
Soldier7 14:f6d4980c48d6 62 // moves lamp down by the fraction of the difference from the middle
Soldier7 20:5dfebb54cdbd 63 outVert = (corVert * (1 - differ)) + .5;
Soldier7 16:74733a28eb80 64 // tilt down by the fraction of the difference from the middle
Soldier7 20:5dfebb54cdbd 65 outTilt = corVert * differ;
Soldier7 20:5dfebb54cdbd 66 /*} else if (0 < corVert < 0.3) {
Soldier7 16:74733a28eb80 67 outVert = 0;
Soldier7 16:74733a28eb80 68 outTilt = corVert * .9; // Follow the low movement only with the tilt servo.
Soldier7 16:74733a28eb80 69 // (.9 is the correction of the side of the screen at OpenCV)
Soldier7 16:74733a28eb80 70 } else if (corVert > 0.7 && corVert < 1) {
Soldier7 16:74733a28eb80 71 outVert = 1;
Soldier7 17:4730277de7c2 72 outTilt = corVert * 1.1; */
Soldier7 16:74733a28eb80 73 } else { // Else this is the case when there is no input from the OpenCV
Soldier7 20:5dfebb54cdbd 74 outVert = corVert;
Soldier7 20:5dfebb54cdbd 75 outTilt = corVert;
Soldier7 16:74733a28eb80 76 // TODO Pan search code here. (Searching personality.)
Soldier7 14:f6d4980c48d6 77 }
Soldier7 0:5edc27224a37 78 mutexIn.unlock();
Soldier7 0:5edc27224a37 79 Thread::wait(25);
Soldier7 0:5edc27224a37 80 }
Soldier7 0:5edc27224a37 81 }
Soldier7 0:5edc27224a37 82
Soldier7 0:5edc27224a37 83 /* Thread Servo 4 - handles the output data from the control thread, and pass to the servo.
Soldier7 0:5edc27224a37 84 @update s1, s2 */
Soldier7 14:f6d4980c48d6 85 void servo_thread(void const *args)
Soldier7 14:f6d4980c48d6 86 {
Soldier7 0:5edc27224a37 87 while (true) {
Soldier7 0:5edc27224a37 88 mutexOut.lock();
Argensis 10:ca6f2769964e 89 tiltServo = outTilt;
Argensis 10:ca6f2769964e 90 panServo = outHoriz;
Argensis 10:ca6f2769964e 91 vertServo = outVert;
Soldier7 0:5edc27224a37 92 mutexOut.unlock();
Soldier7 0:5edc27224a37 93 Thread::wait(200);
Soldier7 0:5edc27224a37 94 }
Soldier7 0:5edc27224a37 95 }
Soldier7 0:5edc27224a37 96
Soldier7 14:f6d4980c48d6 97 int main()
Soldier7 14:f6d4980c48d6 98 {
Soldier7 0:5edc27224a37 99 Thread thread_1(serial_thread); // Start Serial Thread
Soldier7 0:5edc27224a37 100 Thread thread_2(lcd_thread); // Start LCD Thread
Argensis 10:ca6f2769964e 101 Thread thread_3(control_thread); // Start Servo Thread
Soldier7 0:5edc27224a37 102 Thread thread_4(servo_thread); // Start Servo Thread
Soldier7 0:5edc27224a37 103 while(1) {
Argensis 9:e5d24b7a921b 104 wait(1);
Soldier7 0:5edc27224a37 105 }
Soldier7 0:5edc27224a37 106 }