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@8:fe434a018d96, 2015-04-13 (annotated)

Committer:
Soldier7
Date:
Mon Apr 13 12:43:43 2015 +0000
Revision:
8:fe434a018d96
Parent:
7:24d62ef1ed34
Child:
10:ca6f2769964e
Child:
14:f6d4980c48d6
Last changes before break.

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 8:fe434a018d96 5 Servo sPan(p21);
Soldier7 7:24d62ef1ed34 6 Servo sTilt(p22);
Soldier7 0:5edc27224a37 7 Serial pc(USBTX, USBRX);
Soldier7 8:fe434a018d96 8 Servo sVert(p23);
Soldier7 8:fe434a018d96 9 Sonar distance(p24);
Soldier7 0:5edc27224a37 10 Mutex mutexIn;
Soldier7 0:5edc27224a37 11 Mutex mutexOut;
Soldier7 4:70090f3b1f07 12
Soldier7 4:70090f3b1f07 13 AnalogIn p1(p19);
Soldier7 4:70090f3b1f07 14 AnalogIn p2(p20);
Soldier7 0:5edc27224a37 15
Soldier7 8:fe434a018d96 16 // Global variables
Soldier7 8:fe434a018d96 17 float corHoriz; // horizontal variable arrives from OpenCV
Soldier7 8:fe434a018d96 18 float corVert; // vertical variable arrives from OpenCV
Soldier7 8:fe434a018d96 19 float distance; // distance measured by the sonar
Soldier7 8:fe434a018d96 20 float outVert; // rr
Soldier7 8:fe434a018d96 21 float outTilt;
Soldier7 8:fe434a018d96 22 float outHoriz;
Soldier7 0:5edc27224a37 23 C12832 lcd(p5, p7, p6, p8, p11);// lcd is an object from class c12832 initialised by p5,p7....
Soldier7 0:5edc27224a37 24
Soldier7 0:5edc27224a37 25 /* Thread Serial 1 - handles the output data from the control thread, and pass to the servo.
Soldier7 0:5edc27224a37 26 @update s1, s2 */
Soldier7 0:5edc27224a37 27 void serial_thread(void const *args) {
Soldier7 0:5edc27224a37 28 while (true) {
Soldier7 0:5edc27224a37 29 mutexIn.lock();
Ali_taher 2:b109a4eb9b0d 30 // pc.gets(cordinates,4);
Ali_taher 2:b109a4eb9b0d 31 // cordinates = pc.putc(pc.getc());
Soldier7 4:70090f3b1f07 32 pc.scanf("%s \n %s \n ",corHoriz,corVert);// read from serial port the data
Soldier7 0:5edc27224a37 33 mutexIn.unlock();
Soldier7 0:5edc27224a37 34 Thread::wait(200);
Soldier7 0:5edc27224a37 35 }
Soldier7 0:5edc27224a37 36 }
Soldier7 0:5edc27224a37 37
Soldier7 0:5edc27224a37 38 /* Thread LCD 2 - handles the input data from the sonar sensor, and display on the LCD screen.
Soldier7 0:5edc27224a37 39 @update inData */
Soldier7 0:5edc27224a37 40 void lcd_thread(void const *args) {
Soldier7 0:5edc27224a37 41 while (true) {
Soldier7 0:5edc27224a37 42 mutexIn.lock();
Soldier7 0:5edc27224a37 43 mutexOut.lock();
Soldier7 0:5edc27224a37 44 // Display values on the LCD screen
Soldier7 0:5edc27224a37 45 lcd.cls(); // clear the display
Soldier7 4:70090f3b1f07 46 lcd.locate(0,5); // the location where you want your charater to be displayed
Soldier7 4:70090f3b1f07 47 lcd.printf("Hor:%s",corHoriz);
Ali_taher 3:3d53799c2f18 48 lcd.locate(0,20); // the location where you want your charater to be displayed
Soldier7 4:70090f3b1f07 49 lcd.printf("Ver%s", corVert);
Soldier7 0:5edc27224a37 50 mutexIn.unlock();
Soldier7 0:5edc27224a37 51 mutexOut.unlock();
Soldier7 0:5edc27224a37 52 Thread::wait(25);
Soldier7 0:5edc27224a37 53 }
Soldier7 0:5edc27224a37 54 }
Soldier7 0:5edc27224a37 55
Soldier7 0:5edc27224a37 56 /* Thread Control 3 - handles the input data from the sonar sensor, and display on the LCD screen.
Soldier7 0:5edc27224a37 57 @update inData */
Soldier7 0:5edc27224a37 58 void control_thread(void const *args) {
Soldier7 0:5edc27224a37 59 while (true) {
Soldier7 0:5edc27224a37 60 mutexIn.lock();
Soldier7 8:fe434a018d96 61 float differ;
Soldier7 8:fe434a018d96 62 differ = exp(corVert + sonar * outTilt) / (1 + exp(corVert + sonar * outTilt));
Soldier7 7:24d62ef1ed34 63 if (corVert > .5) { // check if face is below the half of the camera view
Soldier7 8:fe434a018d96 64 if (outTilt > .5) { // check if lamp head is facing down
Soldier7 8:fe434a018d96 65 // moves lamp down by the fraction of the difference from the middle
Soldier7 0:5edc27224a37 66 mutexIn.unlock();
Soldier7 0:5edc27224a37 67 Thread::wait(25);
Soldier7 0:5edc27224a37 68 }
Soldier7 0:5edc27224a37 69 }
Soldier7 0:5edc27224a37 70
Soldier7 0:5edc27224a37 71 /* Thread Servo 4 - handles the output data from the control thread, and pass to the servo.
Soldier7 0:5edc27224a37 72 @update s1, s2 */
Soldier7 0:5edc27224a37 73 void servo_thread(void const *args) {
Soldier7 0:5edc27224a37 74 while (true) {
Soldier7 0:5edc27224a37 75 mutexOut.lock();
Soldier7 8:fe434a018d96 76 sTi1t = outTilt;
Soldier7 8:fe434a018d96 77 sPan = outHoriz;
Soldier7 8:fe434a018d96 78 sVert = outVert;
Soldier7 0:5edc27224a37 79 mutexOut.unlock();
Soldier7 0:5edc27224a37 80 Thread::wait(200);
Soldier7 0:5edc27224a37 81 }
Soldier7 0:5edc27224a37 82 }
Soldier7 0:5edc27224a37 83
Soldier7 0:5edc27224a37 84 int main() {
Soldier7 0:5edc27224a37 85 Thread thread_1(serial_thread); // Start Serial Thread
Soldier7 0:5edc27224a37 86 Thread thread_2(lcd_thread); // Start LCD Thread
Soldier7 0:5edc27224a37 87 Thread thread_3(control_thread); // Start Control Thread
Soldier7 0:5edc27224a37 88 Thread thread_4(servo_thread); // Start Servo Thread
Soldier7 0:5edc27224a37 89 while(1) {
Soldier7 0:5edc27224a37 90 Thread::wait(10);
Soldier7 0:5edc27224a37 91 }
Soldier7 0:5edc27224a37 92 }