Diff: assignment3tasks.cpp

Revision:

10:2b262d810c67

Parent:

9:2fd97246b8f0

Child:

11:d6d1583fc824

--- a/assignment3tasks.cpp	Wed Mar 27 12:28:10 2019 +0000
+++ b/assignment3tasks.cpp	Wed Mar 27 13:09:26 2019 +0000
@@ -248,18 +248,23 @@
 
 void task9indLED()
 {
-    float delay = 1000 / TASKFREQ9;
     while(true){
-        uint8_t turnleft = leftsw.read();
-        uint8_t turnright = rightsw.read();
         
-        carstateXS.lock();
+       
+        int turnleft = leftsw;
+        int turnright = rightsw;
         
         
 
-       (turnleft = 1)?     info.leftind    =   1   :info.leftind   =    0;
+        carstateXS.lock();
+         
+       (turnleft = 1)?     info.leftind    =   1   :info.leftind   =    0; // <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<this lock unlock stuff is messing it up 
        (turnright = 1)?    info.rightind   =   1   :info.rightind  =    0; 
         
+        carstateXS.unlock();
+        
+        
+        //issue persists with commented code below
        /* if(turnleft = 1){
           info.leftind = 1;
           }
@@ -275,7 +280,7 @@
           }
              */
           
-        carstateXS.unlock();
+        
         
         //hazard and other lights
         
@@ -302,10 +307,13 @@
             right_pulswidth = right_pulswidth / 2;   
         }
         
+        
         leftind.period(left_period);
         leftind.pulsewidth(left_pulswidth);
         rightind.period(right_period);
         rightind.pulsewidth(right_pulswidth);
+        
+        
        
        float delay = 1000 / TASKFREQ9S2;
        Thread::wait((int)delay);
@@ -317,4 +325,34 @@
 
 
 
-}        
\ No newline at end of file
+}       
+
+void taskXserialdump()
+{
+    while(true)
+    {
+    speedXS.lock();
+    
+    PC.printf("SPEED: %.1f\r\n",speed.rawspeed);
+    PC.printf("BRAKE: %.1f\r\n",speed.brakevalue);
+    PC.printf("ACCELEROMETER: %.1f\r\n",speed.accelvalue);
+    
+    speedXS.unlock();
+    
+    carstate.lock();  
+    
+    PC.printf("LEFT INDICATOR  : %.1f\r\n",info.leftind);
+    PC.printf("RIGHT INDICATOR : %.1f\r\n",info.rightind);
+    
+    carstate.unlock();
+    
+    float delay = 1000/ TASKFREQX;
+    Thread:: wait((int)delay);
+      
+    }
+
+
+
+} 
+
+      
\ No newline at end of file