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@9:e5d24b7a921b, 2015-04-13 (annotated)

Committer:
Argensis
Date:
Mon Apr 13 12:39:24 2015 +0000
Revision:
9:e5d24b7a921b
Parent:
4:70090f3b1f07
Child:
10:ca6f2769964e
Update to fix serial communications between OpenCV and mBed.

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);
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
Argensis 9:e5d24b7a921b 15 // Global variables
Argensis 9:e5d24b7a921b 16 float corHoriz = 0;
Argensis 9:e5d24b7a921b 17 float corVert = 0;
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) {
Argensis 9:e5d24b7a921b 24 pc.scanf("%f,%f", &corHoriz, &corVert);// read from serial port the data
Soldier7 0:5edc27224a37 25 }
Soldier7 0:5edc27224a37 26 }
Soldier7 0:5edc27224a37 27
Soldier7 0:5edc27224a37 28 /* Thread LCD 2 - handles the input data from the sonar sensor, and display on the LCD screen.
Soldier7 0:5edc27224a37 29 @update inData */
Soldier7 0:5edc27224a37 30 void lcd_thread(void const *args) {
Soldier7 0:5edc27224a37 31 while (true) {
Soldier7 0:5edc27224a37 32 // Display values on the LCD screen
Soldier7 0:5edc27224a37 33 lcd.cls(); // clear the display
Soldier7 4:70090f3b1f07 34 lcd.locate(0,5); // the location where you want your charater to be displayed
Argensis 9:e5d24b7a921b 35 lcd.printf("Hor: %0.3f", corHoriz);
Ali_taher 3:3d53799c2f18 36 lcd.locate(0,20); // the location where you want your charater to be displayed
Argensis 9:e5d24b7a921b 37 lcd.printf("Ver: %0.3f", corVert);
Argensis 9:e5d24b7a921b 38 Thread::wait(250);
Soldier7 0:5edc27224a37 39 }
Soldier7 0:5edc27224a37 40 }
Soldier7 0:5edc27224a37 41
Argensis 9:e5d24b7a921b 42 /* Thread Servo 3 - handles the output data from the control thread, and pass to the servo.
Soldier7 0:5edc27224a37 43 @update s1, s2 */
Soldier7 0:5edc27224a37 44 void servo_thread(void const *args) {
Soldier7 0:5edc27224a37 45 while (true) {
Argensis 9:e5d24b7a921b 46 tiltServo = corVert;
Argensis 9:e5d24b7a921b 47 panServo = corHoriz;
Soldier7 0:5edc27224a37 48 Thread::wait(200);
Soldier7 0:5edc27224a37 49 }
Soldier7 0:5edc27224a37 50 }
Soldier7 0:5edc27224a37 51
Soldier7 0:5edc27224a37 52 int main() {
Soldier7 0:5edc27224a37 53 Thread thread_1(serial_thread); // Start Serial Thread
Soldier7 0:5edc27224a37 54 Thread thread_2(lcd_thread); // Start LCD Thread
Argensis 9:e5d24b7a921b 55 Thread thread_3(servo_thread); // Start Servo Thread
Soldier7 0:5edc27224a37 56 while(1) {
Argensis 9:e5d24b7a921b 57 wait(1);
Soldier7 0:5edc27224a37 58 }
Soldier7 0:5edc27224a37 59 }