Diff: main.cpp

Revision:

6:007c89b67d67

Parent:

5:2a9a3d74a1d8

--- a/main.cpp	Tue Feb 19 09:38:31 2019 +0000
+++ b/main.cpp	Thu Feb 28 17:04:08 2019 +0000
@@ -10,44 +10,109 @@
 Serial pc(USBTX, USBRX); // tx, rx
 DigitalOut redLED(LED_RED);
 DigitalOut greenLED(LED_GREEN);
+DigitalOut blueLED(LED_BLUE);
 TSISensor tsi;
 
 Thread redThread ; // thread for red LED
 Thread greenThread ; // thread for green LED
+Thread blueThread;
+Thread whiteThread;
 
 # define REDFLAG 0x01   
 # define GREENFLAG 0x02
+# define BLUEFLAG 0x04
+# define WHITEFLAG 0x08
 EventFlags signals;  // event flags for signalling; 2 used
- 
+
+enum redLEDState {REDOn,REDOff}; 
 void red_thread() {  // method to run in thread
+    redLEDState redstate = REDOff; 
+    while (true) {
+        switch(redstate){
+            case REDOff:
+                signals.wait_any(REDFLAG);
+                redLED = false;
+                wait(0.5);
+                redstate = REDOn;
+                break;
+            case REDOn: 
+                redLED = true ; // turn on
+                signals.clear(REDFLAG);
+                redstate = REDOff;
+        }
+    }
+}
+enum greenLEDState {GREENOn,GREENOff}; 
+void green_thread() {  // method to run in thread
+    greenLEDState greenstate = GREENOff; 
     while (true) {
-        signals.wait_any(REDFLAG);
-        redLED = false ; // turn on
-        wait(5.0);
-        redLED = true ; // turn off 
-        signals.clear(REDFLAG) ;
-          // Signal are automatically cleared by wait_any but
-          // the signal might have been set again while LED on 
+        switch(greenstate){
+            case GREENOff:
+                signals.wait_any(GREENFLAG);
+                greenLED = false ; 
+                wait(0.5);
+                greenstate = GREENOn;
+                break;
+            case GREENOn: 
+                greenLED = true ; // turn on
+                signals.clear(GREENFLAG);
+                greenstate = GREENOff;
+        }
+    }
+}
+enum blueLEDState {BLUEOn,BLUEOff}; 
+void blue_thread() {  // method to run in thread
+    blueLEDState bluestate = BLUEOff; 
+    while (true) {
+        switch(bluestate){
+            case BLUEOff:
+                signals.wait_any(BLUEFLAG);
+                blueLED = false ; 
+                wait(0.5);
+                bluestate = BLUEOn;
+                break;
+            case BLUEOn: 
+                blueLED = true ; // turn on
+                signals.clear(BLUEFLAG);
+                bluestate = BLUEOff;
+        }
+    }
+}
+enum whiteLEDState {WHITEOn,WHITEOff}; 
+void white_thread() {  // method to run in thread
+    whiteLEDState whitestate = WHITEOff; 
+    while (true) {
+        switch(whitestate){
+            case WHITEOff:
+                signals.wait_any(WHITEFLAG);
+                blueLED = false ; // turn on 
+                redLED = false ;
+                greenLED = false ;
+                wait(0.5);
+                whitestate = WHITEOn;
+                break;
+            case WHITEOn: 
+                blueLED = true ; // turn off 
+                redLED = true ;
+                greenLED = true ;
+                signals.clear(WHITEFLAG);
+                whitestate = WHITEOff;
+        }
     }
 }
 
-void green_thread() {  // method to run in thread
-    while (true) {
-        signals.wait_any(GREENFLAG);
-        greenLED = false ; // turn on 
-        wait(5.0);
-        greenLED = true ; // turn off 
-        signals.clear(GREENFLAG) ;
-          // Signal are automatically cleared by wait_any but
-          // the signal might have been set again while LED on 
-    }
-}
+enum states {LeftIn,LeftOut,RightIn,RightOut,None};
 
 int main(void) {
     redLED = true ; // turn off 
     greenLED = true ; // turn off 
+    blueLED = true ;
     redThread.start(red_thread) ; // start the red thread
     greenThread.start(green_thread) ; // start the green thread
+    blueThread.start(blue_thread);
+    whiteThread.start(white_thread);
+    
+    states State = None;
     
     while (true) {
         uint8_t d = tsi.readDistance() ;  // Distance is between 0 and 39
@@ -55,9 +120,22 @@
                                           // Left --> low value  Right --> high value
         pc.printf("%d", d) ;  
         pc.putc(' ') ;
-        if (d == 10) signals.set(REDFLAG) ;
-        if (d == 20) signals.set(GREENFLAG) ;
-        wait(0.5);  // This polling rate is too slow - increase it
-                    // The slower rate maks it easier to output on the terminal
+        wait(0.1);
+        switch(State){
+            case None:
+               if (d > 3 && d < 9) {signals.set(REDFLAG);State = LeftOut;}
+               else if (d > 13 && d < 19) {signals.set(GREENFLAG) ;State = LeftIn; }
+               else if (d > 23 && d < 29) {signals.set(BLUEFLAG) ;State = RightIn;}  
+               else if (d > 33) {signals.set(WHITEFLAG) ;State = RightOut;}
+               break;
+            case LeftOut:
+                if (d < 3 || d >9) State = None;break;
+            case LeftIn:
+                if (d < 13 || d >19) State = None;break;
+            case RightIn:
+                if (d < 23 || d >29) State = None;break;
+            case RightOut:
+                if (d < 33) State = None;break;
+        }
     }
 }
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