Diff: main.cpp

Revision:

14:f6d4980c48d6

Parent:

8:fe434a018d96

Child:

15:4ef3d9835b13

--- a/main.cpp	Mon Apr 13 12:43:43 2015 +0000
+++ b/main.cpp	Mon Apr 13 13:03:16 2015 +0000
@@ -6,38 +6,37 @@
 Servo sTilt(p22);
 Serial pc(USBTX, USBRX);
 Servo sVert(p23);
-Sonar distance(p24);
+AnalogIn distance(p19);
 Mutex mutexIn;
 Mutex mutexOut;
- 
-AnalogIn p1(p19);
-AnalogIn p2(p20);
 
 // Global variables
 float corHoriz; // horizontal variable arrives from OpenCV
 float corVert; // vertical variable arrives from OpenCV
 float distance; // distance measured by the sonar
-float outVert; // rr
+float outVert; //
 float outTilt;
 float outHoriz;
 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) {
+void serial_thread(void const *args)
+{
     while (true) {
         mutexIn.lock();
-      //  pc.gets(cordinates,4);
-     //   cordinates = pc.putc(pc.getc());
-         pc.scanf("%s \n %s \n ",corHoriz,corVert);// read from serial port the data
+        //  pc.gets(cordinates,4);
+        //   cordinates = pc.putc(pc.getc());
+        pc.scanf("%s \n %s \n ",corHoriz,corVert);// read from serial port the data
         mutexIn.unlock();
         Thread::wait(200);
     }
 }
- 
+
 /* 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) {
+void lcd_thread(void const *args)
+{
     while (true) {
         mutexIn.lock();
         mutexOut.lock();
@@ -55,22 +54,34 @@
 
 /* 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) {
+void control_thread(void const *args)
+{
     while (true) {
         mutexIn.lock();
         float differ;
         differ = exp(corVert + sonar * outTilt) / (1 + exp(corVert + sonar * outTilt));
-        if (corVert > .5) { // check if face is below the half of the camera view
-            if (outTilt > .5) { // check if lamp head is facing down
-                // moves lamp down by the fraction of the difference from the middle
-        mutexIn.unlock();
-        Thread::wait(25);
+        if (corVert > .45) { // check if face is below the half of the camera view
+            if (outTilt > .45) { // check if lamp head is facing down
+            // moves lamp down by the fraction of the difference from the middle
+                outVert = outVert + 
+                outTilt = outTilt + 
+            } else if (outTilt < .55) {  // check if lamp head is facing up
+                //
+            }
+           
+        } else if (corVert < .55) {
+           // moves lamp up by the fraction of the difference from the middle
+        }
     }
+    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) {
+void servo_thread(void const *args)
+{
     while (true) {
         mutexOut.lock();
         sTi1t = outTilt;
@@ -81,7 +92,8 @@
     }
 }
 
-int main() {
+int main()
+{
     Thread thread_1(serial_thread); // Start Serial Thread
     Thread thread_2(lcd_thread); // Start LCD Thread
     Thread thread_3(control_thread); // Start Control Thread