main.cpp

00001 #include "mbed.h"
00002 #include "TSISensor.h"
00003 
00004 // Example program for lab 5
00005 // -------------------------
00006 //  A value is read from the touch sensor and use
00007 //    to control two LEDs
00008 //  The value is also output to the serial interface
00009 
00010 Serial pc(USBTX, USBRX); // tx, rx
00011 DigitalOut redLED(LED_RED);
00012 DigitalOut greenLED(LED_GREEN);
00013 DigitalOut blueLED(LED_BLUE);
00014 TSISensor tsi;
00015 
00016 Thread redThread ; // thread for red LED
00017 Thread greenThread ; // thread for green LED
00018 Thread blueThread;
00019 Thread whiteThread;
00020 
00021 # define REDFLAG 0x01   
00022 # define GREENFLAG 0x02
00023 # define BLUEFLAG 0x04
00024 # define WHITEFLAG 0x08
00025 EventFlags signals;  // event flags for signalling; 2 used
00026 
00027 enum redLEDState {REDOn,REDOff}; 
00028 void red_thread() {  // method to run in thread
00029     redLEDState redstate = REDOff; 
00030     while (true) {
00031         switch(redstate){
00032             case REDOff:
00033                 signals.wait_any(REDFLAG);
00034                 redLED = false;
00035                 wait(0.5);
00036                 redstate = REDOn;
00037                 break;
00038             case REDOn: 
00039                 redLED = true ; // turn on
00040                 signals.clear(REDFLAG);
00041                 redstate = REDOff;
00042         }
00043     }
00044 }
00045 enum greenLEDState {GREENOn,GREENOff}; 
00046 void green_thread() {  // method to run in thread
00047     greenLEDState greenstate = GREENOff; 
00048     while (true) {
00049         switch(greenstate){
00050             case GREENOff:
00051                 signals.wait_any(GREENFLAG);
00052                 greenLED = false ; 
00053                 wait(0.5);
00054                 greenstate = GREENOn;
00055                 break;
00056             case GREENOn: 
00057                 greenLED = true ; // turn on
00058                 signals.clear(GREENFLAG);
00059                 greenstate = GREENOff;
00060         }
00061     }
00062 }
00063 enum blueLEDState {BLUEOn,BLUEOff}; 
00064 void blue_thread() {  // method to run in thread
00065     blueLEDState bluestate = BLUEOff; 
00066     while (true) {
00067         switch(bluestate){
00068             case BLUEOff:
00069                 signals.wait_any(BLUEFLAG);
00070                 blueLED = false ; 
00071                 wait(0.5);
00072                 bluestate = BLUEOn;
00073                 break;
00074             case BLUEOn: 
00075                 blueLED = true ; // turn on
00076                 signals.clear(BLUEFLAG);
00077                 bluestate = BLUEOff;
00078         }
00079     }
00080 }
00081 enum whiteLEDState {WHITEOn,WHITEOff}; 
00082 void white_thread() {  // method to run in thread
00083     whiteLEDState whitestate = WHITEOff; 
00084     while (true) {
00085         switch(whitestate){
00086             case WHITEOff:
00087                 signals.wait_any(WHITEFLAG);
00088                 blueLED = false ; // turn on 
00089                 redLED = false ;
00090                 greenLED = false ;
00091                 wait(0.5);
00092                 whitestate = WHITEOn;
00093                 break;
00094             case WHITEOn: 
00095                 blueLED = true ; // turn off 
00096                 redLED = true ;
00097                 greenLED = true ;
00098                 signals.clear(WHITEFLAG);
00099                 whitestate = WHITEOff;
00100         }
00101     }
00102 }
00103 
00104 enum states {LeftIn,LeftOut,RightIn,RightOut,None};
00105 
00106 int main(void) {
00107     redLED = true ; // turn off 
00108     greenLED = true ; // turn off 
00109     blueLED = true ;
00110     redThread.start(red_thread) ; // start the red thread
00111     greenThread.start(green_thread) ; // start the green thread
00112     blueThread.start(blue_thread);
00113     whiteThread.start(white_thread);
00114     
00115     states State = None;
00116     
00117     while (true) {
00118         uint8_t d = tsi.readDistance() ;  // Distance is between 0 and 39
00119                                           // When no touch --> 0
00120                                           // Left --> low value  Right --> high value
00121         pc.printf("%d", d) ;  
00122         pc.putc(' ') ;
00123         wait(0.1);
00124         switch(State){
00125             case None:
00126                if (d > 3 && d < 9) {signals.set(REDFLAG);State = LeftOut;}
00127                else if (d > 13 && d < 19) {signals.set(GREENFLAG) ;State = LeftIn; }
00128                else if (d > 23 && d < 29) {signals.set(BLUEFLAG) ;State = RightIn;}  
00129                else if (d > 33) {signals.set(WHITEFLAG) ;State = RightOut;}
00130                break;
00131             case LeftOut:
00132                 if (d < 3 || d >9) State = None;break;
00133             case LeftIn:
00134                 if (d < 13 || d >19) State = None;break;
00135             case RightIn:
00136                 if (d < 23 || d >29) State = None;break;
00137             case RightOut:
00138                 if (d < 33) State = None;break;
00139         }
00140     }
00141 }