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
main.cpp
- Committer:
- Soldier7
- Date:
- 2015-04-16
- Revision:
- 16:74733a28eb80
- Parent:
- 15:4ef3d9835b13
- Child:
- 17:4730277de7c2
File content as of revision 16:74733a28eb80:
#include "mbed.h" #include "rtos.h" #include "Servo.h" #include "C12832.h" Servo tiltServo(p24); Servo panServo(p25); Serial pc(USBTX, USBRX); Servo vertServo(p23); AnalogIn sonar(p19); // temporary changed to potmeter Mutex mutexIn; Mutex mutexOut; // Global variables float corHoriz = 0; // horizontal variable arrives from OpenCV float corVert = 0; // vertical variable arrives from OpenCV float distance = 0; // distance from the sonar sensor float outVert; // output to vertical servo float outTilt; // output to tilt servo float outHoriz; // output to horizontal servo C12832 lcd(p5, p7, p6, p8, p11);// lcd is an object from class c12832 initialised by p5, p7.... /* 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) { pc.scanf("%f,%f", &corHoriz, &corVert);// read from serial port the data } } /* Thread LCD 2 - handles the input data from the sonar sensor, and display on the LCD screen. @update inData */ void lcd_thread(void const *args) { while (true) { // 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 lcd.printf("Sonar: %0.3f, OutTilt: %0.3f", sonar.read(), outTilt); lcd.locate(0,20); // the location where you want your charater to be displayed lcd.printf("Vert: %0.3f, OutVert: %0.3f", corVert, outVert); Thread::wait(250); } } /* Thread Control 3 - handles the input data from the sonar sensor, and display on the LCD screen. @update inData */ void control_thread(void const *args) { while (true) { mutexIn.lock(); float differ; differ = exp(corVert + sonar * outTilt) / (1 + exp(corVert + sonar * outTilt)); if (0.3 < corVert < 0.7) { // if corVert is valid (between 0 - 1) then do movements // moves lamp down by the fraction of the difference from the middle outVert = outVert + ((outVert - .5) * differ); // tilt down by the fraction of the difference from the middle outTilt = outTilt + ((outVert - .5) * (1 - differ)); } else if (0 < corVert < 0.3) { outVert = 0; outTilt = corVert * .9; // Follow the low movement only with the tilt servo. // (.9 is the correction of the side of the screen at OpenCV) } else if (corVert > 0.7 && corVert < 1) { outVert = 1; outTilt = corVert * 1.1; } else { // Else this is the case when there is no input from the OpenCV outVert = .5; // TODO Pan search code here. (Searching personality.) } mutexIn.unlock(); Thread::wait(25); } } /* Thread Servo 4 - handles the output data from the control thread, and pass to the servo. @update s1, s2 */ void servo_thread(void const *args) { while (true) { mutexOut.lock(); tiltServo = outTilt; panServo = outHoriz; vertServo = outVert; mutexOut.unlock(); Thread::wait(200); } } int main() { 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 while(1) { wait(1); } }