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@10:ca6f2769964e, 2015-04-13 (annotated)

Committer:
Argensis
Date:
Mon Apr 13 13:01:02 2015 +0000
Revision:
10:ca6f2769964e
Parent:
8:fe434a018d96
Parent:
9:e5d24b7a921b
Child:
11:af76305da577
Child:
15:4ef3d9835b13
Merge Andreas movement and Tony's OpenCV/Serial code.

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
Argensis 9:e5d24b7a921b 6 Servo tiltServo(p21);
Argensis 9:e5d24b7a921b 7 Servo panServo(p22);
Soldier7 0:5edc27224a37 8 Serial pc(USBTX, USBRX);
Argensis 10:ca6f2769964e 9 Servo vertServo(p23);
Argensis 10:ca6f2769964e 10 AnalogIn sonar(p19);
Soldier7 0:5edc27224a37 11 Mutex mutexIn;
Soldier7 0:5edc27224a37 12 Mutex mutexOut;
Soldier7 4:70090f3b1f07 13
Soldier7 4:70090f3b1f07 14 AnalogIn p1(p19);
Soldier7 4:70090f3b1f07 15 AnalogIn p2(p20);
Soldier7 0:5edc27224a37 16
Argensis 9:e5d24b7a921b 17 // Global variables
Argensis 10:ca6f2769964e 18 float corHoriz = 0; // horizontal variable arrives from OpenCV
Argensis 10:ca6f2769964e 19 float corVert = 0; // vertical variable arrives from OpenCV
Argensis 10:ca6f2769964e 20 float distance = 0;
Soldier7 8:fe434a018d96 21 float outVert; // rr
Soldier7 8:fe434a018d96 22 float outTilt;
Soldier7 8:fe434a018d96 23 float outHoriz;
Soldier7 0:5edc27224a37 24 C12832 lcd(p5, p7, p6, p8, p11);// lcd is an object from class c12832 initialised by p5,p7....
Soldier7 0:5edc27224a37 25
Soldier7 0:5edc27224a37 26 /* Thread Serial 1 - handles the output data from the control thread, and pass to the servo.
Soldier7 0:5edc27224a37 27 @update s1, s2 */
Soldier7 0:5edc27224a37 28 void serial_thread(void const *args) {
Soldier7 0:5edc27224a37 29 while (true) {
Argensis 9:e5d24b7a921b 30 pc.scanf("%f,%f", &corHoriz, &corVert);// read from serial port the data
Soldier7 0:5edc27224a37 31 }
Soldier7 0:5edc27224a37 32 }
Soldier7 0:5edc27224a37 33
Soldier7 0:5edc27224a37 34 /* Thread LCD 2 - handles the input data from the sonar sensor, and display on the LCD screen.
Soldier7 0:5edc27224a37 35 @update inData */
Soldier7 0:5edc27224a37 36 void lcd_thread(void const *args) {
Soldier7 0:5edc27224a37 37 while (true) {
Soldier7 0:5edc27224a37 38 // Display values on the LCD screen
Soldier7 0:5edc27224a37 39 lcd.cls(); // clear the display
Soldier7 4:70090f3b1f07 40 lcd.locate(0,5); // the location where you want your charater to be displayed
Argensis 9:e5d24b7a921b 41 lcd.printf("Hor: %0.3f", corHoriz);
Ali_taher 3:3d53799c2f18 42 lcd.locate(0,20); // the location where you want your charater to be displayed
Argensis 9:e5d24b7a921b 43 lcd.printf("Ver: %0.3f", corVert);
Argensis 9:e5d24b7a921b 44 Thread::wait(250);
Soldier7 0:5edc27224a37 45 }
Soldier7 0:5edc27224a37 46 }
Soldier7 0:5edc27224a37 47
Soldier7 0:5edc27224a37 48 /* Thread Control 3 - handles the input data from the sonar sensor, and display on the LCD screen.
Soldier7 0:5edc27224a37 49 @update inData */
Soldier7 0:5edc27224a37 50 void control_thread(void const *args) {
Soldier7 0:5edc27224a37 51 while (true) {
Soldier7 0:5edc27224a37 52 mutexIn.lock();
Soldier7 8:fe434a018d96 53 float differ;
Soldier7 8:fe434a018d96 54 differ = exp(corVert + sonar * outTilt) / (1 + exp(corVert + sonar * outTilt));
Soldier7 7:24d62ef1ed34 55 if (corVert > .5) { // check if face is below the half of the camera view
Soldier7 8:fe434a018d96 56 if (outTilt > .5) { // check if lamp head is facing down
Soldier7 8:fe434a018d96 57 // moves lamp down by the fraction of the difference from the middle
Argensis 10:ca6f2769964e 58 }
Argensis 10:ca6f2769964e 59 }
Soldier7 0:5edc27224a37 60 mutexIn.unlock();
Soldier7 0:5edc27224a37 61 Thread::wait(25);
Soldier7 0:5edc27224a37 62 }
Soldier7 0:5edc27224a37 63 }
Soldier7 0:5edc27224a37 64
Soldier7 0:5edc27224a37 65 /* Thread Servo 4 - handles the output data from the control thread, and pass to the servo.
Soldier7 0:5edc27224a37 66 @update s1, s2 */
Soldier7 0:5edc27224a37 67 void servo_thread(void const *args) {
Soldier7 0:5edc27224a37 68 while (true) {
Soldier7 0:5edc27224a37 69 mutexOut.lock();
Argensis 10:ca6f2769964e 70 tiltServo = outTilt;
Argensis 10:ca6f2769964e 71 panServo = outHoriz;
Argensis 10:ca6f2769964e 72 vertServo = outVert;
Soldier7 0:5edc27224a37 73 mutexOut.unlock();
Soldier7 0:5edc27224a37 74 Thread::wait(200);
Soldier7 0:5edc27224a37 75 }
Soldier7 0:5edc27224a37 76 }
Soldier7 0:5edc27224a37 77
Soldier7 0:5edc27224a37 78 int main() {
Soldier7 0:5edc27224a37 79 Thread thread_1(serial_thread); // Start Serial Thread
Soldier7 0:5edc27224a37 80 Thread thread_2(lcd_thread); // Start LCD Thread
Argensis 10:ca6f2769964e 81 Thread thread_3(control_thread); // Start Servo Thread
Soldier7 0:5edc27224a37 82 Thread thread_4(servo_thread); // Start Servo Thread
Soldier7 0:5edc27224a37 83 while(1) {
Argensis 9:e5d24b7a921b 84 wait(1);
Soldier7 0:5edc27224a37 85 }
Soldier7 0:5edc27224a37 86 }