sonar sensor is working in the version of code but the reading are not correct
Dependencies: C12832 Pulse RangeFinder Servo mbed rtos
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Diff: main.cpp
- Revision:
- 12:de4d6a06011b
- Parent:
- 11:af76305da577
--- a/main.cpp Fri Apr 17 10:12:20 2015 +0000 +++ b/main.cpp Mon Apr 20 13:06:40 2015 +0000 @@ -26,18 +26,22 @@ C12832 lcd(p5, p7, p6, p8, p11);// lcd is an object from class c12832 initialised by p5,p7.... /*parallax ultrasound range finder -p21 pin the range finder is connected to. +p23 pin the range finder is connected to. 10 is Time of pulse to send to the rangefinder to trigger a measurement, in microseconds. 5800 is Scaling of the range finder's output pulse from microseconds to metres. 100000 Time to wait for a pulse from the range finder before giving up */ -RangeFinder rf(p26, 10, 5800.0, 100000); +RangeFinder rf(p23, 10, 5800.0, 100000); /* Thread Serial 1 - handles the output data from the control thread, and pass to the servo. @update s1, s2 */ void serial_thread(void const *args) { while (true) { + // I have problem in this thread the sonar reading is not correct if this thread is used + pc.scanf("%f,%f", &corHoriz, &corVert);// read from serial port the data + + } } @@ -45,7 +49,7 @@ @update inData */ void lcd_thread(void const *args) { while (true) { - mutex_sonar.lock(); + mutex_sonar.lock(); // Display values on the LCD screen lcd.cls(); // clear the display lcd.locate(0,5); // the location where you want your charater to be displayed @@ -81,33 +85,52 @@ @update s1, s2 */ void servo_thread(void const *args) { while (true) { + // mutex_sonar.lock(); mutexOut.lock(); tiltServo = outTilt; panServo = outHoriz; vertServo = outVert; + + /* if the distance more than 3 meters the servo will mover full range CW and CCW*/ + for(int i=0; i<100; i++) { + if (distance>=2) + { + tiltServo = i/100.0; + Thread::wait(25); + } + } + for(int i=100; i>0; i--) { + if (distance>=2) + { + tiltServo = i/100.0; + Thread:: wait(25); + } + } + tiltServo.position(0.0); + // mutex_sonar.unlock(); mutexOut.unlock(); Thread::wait(250); } } + /* Thread sonar 5 - handles the sonar values which can be in meter or normailsed value to one */ void sonar_thread(void const *args) { - while (true) { - mutex_sonar.lock(); - distance = rf.read_m(); // read the distance from the sonar sensor in meter - norm= distance/3.3; // normalised value from the sonar sensor - printf("dis: %0.2f", distance);// Display the distance in meters from the sonar - mutex_sonar.unlock(); - Thread::wait(250); - } + while (1) { + } + } int main() { - Thread thread_1(serial_thread); // Start Serial Thread - Thread thread_2(lcd_thread); // Start LCD Thread + // Thread thread_1(serial_thread); // Start Serial Thread + Thread thread_2(lcd_thread); // Start LCD Thread + Thread thread_3(control_thread); // Start Servo Thread Thread thread_4(servo_thread); // Start Servo Thread Thread thread_5(sonar_thread); // Start Servo Thread while(1) { - - wait(1); + mutex_sonar.lock(); + distance = rf.read_m(); // read the distance from the sonar sensor in meter + norm= distance/3.3; // normalised value from the sonar sensor + mutex_sonar.unlock(); + Thread::wait(25); } }