Cynthia Wang / Mbed 2 deprecated ECE4180-FinalProject

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Dependencies:   mbed-rtos mbed Servo Motor SoftPWM

main.cpp@2:002f2def130e, 2022-11-15 (annotated)

Committer:
yjaafar3
Date:
Tue Nov 15 22:46:55 2022 +0000
Revision:
2:002f2def130e
Parent:
1:965e202877f7
Child:
3:9febeec1f271
Added input read functionality and volatile inputs

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cwang776 0:16c007acb3a2 1 #include "mbed.h"
cwang776 0:16c007acb3a2 2 #include "rtos.h"
yjaafar3 2:002f2def130e 3 #include "Serial.h"
cwang776 0:16c007acb3a2 4
yjaafar3 2:002f2def130e 5 Serial blue(p28, p27);
yjaafar3 2:002f2def130e 6
cwang776 0:16c007acb3a2 7
yjaafar3 2:002f2def130e 8 volatile float speed_left = 0;
yjaafar3 2:002f2def130e 9 volatile float speed_right = 0;
yjaafar3 2:002f2def130e 10 volatile float turret_delta = 0;
yjaafar3 2:002f2def130e 11 volatile bool fire = false;
cwang776 0:16c007acb3a2 12
cwang776 0:16c007acb3a2 13
yjaafar3 2:002f2def130e 14 Mutex drive_mutex;
yjaafar3 2:002f2def130e 15 Mutex turret_mutex;
yjaafar3 2:002f2def130e 16 Mutex fire_mutex;
yjaafar3 2:002f2def130e 17
yjaafar3 2:002f2def130e 18 Thread thread_drive;
yjaafar3 2:002f2def130e 19 Thread thread_turret;
yjaafar3 2:002f2def130e 20 Thread thread_fire;
yjaafar3 2:002f2def130e 21
yjaafar3 2:002f2def130e 22 void input_loop();
yjaafar3 2:002f2def130e 23 void set_speed(float l, float r);
yjaafar3 2:002f2def130e 24 void set_turret_delta(float delta);
yjaafar3 2:002f2def130e 25 void fire_cannon(bool f);
yjaafar3 2:002f2def130e 26
yjaafar3 2:002f2def130e 27 void input_thread() {
yjaafar3 2:002f2def130e 28
cwang776 0:16c007acb3a2 29 }
cwang776 0:16c007acb3a2 30
yjaafar3 2:002f2def130e 31 void drive_thread() {
yjaafar3 2:002f2def130e 32
yjaafar3 2:002f2def130e 33 }
cwang776 0:16c007acb3a2 34
yjaafar3 2:002f2def130e 35 void turret_thread() {
yjaafar3 2:002f2def130e 36
cwang776 0:16c007acb3a2 37 }
yjaafar3 2:002f2def130e 38
yjaafar3 2:002f2def130e 39 void fire_thread() {
yjaafar3 2:002f2def130e 40
yjaafar3 2:002f2def130e 41 }
yjaafar3 2:002f2def130e 42
cwang776 0:16c007acb3a2 43
cwang776 0:16c007acb3a2 44 int main() {
bzhu792 1:965e202877f7 45 //test
cwang776 0:16c007acb3a2 46
yjaafar3 2:002f2def130e 47 //thread1.start(some_thread);
yjaafar3 2:002f2def130e 48 //thread2.start(other_thread);
yjaafar3 2:002f2def130e 49 thread_drive.start(drive_thread);
yjaafar3 2:002f2def130e 50 thread_turret.start(turret_thread);
yjaafar3 2:002f2def130e 51 thread_fire.start(fire_thread);
yjaafar3 2:002f2def130e 52
yjaafar3 2:002f2def130e 53 input_loop();
cwang776 0:16c007acb3a2 54 }
yjaafar3 2:002f2def130e 55
yjaafar3 2:002f2def130e 56 void input_loop() {
yjaafar3 2:002f2def130e 57 char bnum=0;
yjaafar3 2:002f2def130e 58 char bhit=0;
yjaafar3 2:002f2def130e 59 while(1) {
yjaafar3 2:002f2def130e 60 if (blue.getc()=='!') {
yjaafar3 2:002f2def130e 61 if (blue.getc()=='B') { //button data packet
yjaafar3 2:002f2def130e 62 bnum = blue.getc(); //button number
yjaafar3 2:002f2def130e 63 bhit = blue.getc(); //1=hit, 0=release
yjaafar3 2:002f2def130e 64 if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
yjaafar3 2:002f2def130e 65 switch(bnum) {
yjaafar3 2:002f2def130e 66 case '1': //Turret Left Button
yjaafar3 2:002f2def130e 67 if (bhit == '1') {
yjaafar3 2:002f2def130e 68 set_turret_delta(-0.05);
yjaafar3 2:002f2def130e 69 } else {
yjaafar3 2:002f2def130e 70 set_turret_delta(0);
yjaafar3 2:002f2def130e 71 }
yjaafar3 2:002f2def130e 72 break;
yjaafar3 2:002f2def130e 73 case '2': //Turret Right Button
yjaafar3 2:002f2def130e 74 if (bhit == '1') {
yjaafar3 2:002f2def130e 75 set_turret_delta(0.05);
yjaafar3 2:002f2def130e 76 } else {
yjaafar3 2:002f2def130e 77 set_turret_delta(0);
yjaafar3 2:002f2def130e 78 }
yjaafar3 2:002f2def130e 79 break;
yjaafar3 2:002f2def130e 80 case '3': //Fire Button
yjaafar3 2:002f2def130e 81 if (bhit == '1') {
yjaafar3 2:002f2def130e 82 fire_cannon(true);
yjaafar3 2:002f2def130e 83 } else {
yjaafar3 2:002f2def130e 84 fire_cannon(false);
yjaafar3 2:002f2def130e 85 }
yjaafar3 2:002f2def130e 86 break;
yjaafar3 2:002f2def130e 87 case '5': //button 5 up arrow
yjaafar3 2:002f2def130e 88 if (bhit=='1') {
yjaafar3 2:002f2def130e 89 set_speed(0.5, 0.5);
yjaafar3 2:002f2def130e 90 } else {
yjaafar3 2:002f2def130e 91 set_speed(0, 0);
yjaafar3 2:002f2def130e 92 }
yjaafar3 2:002f2def130e 93 break;
yjaafar3 2:002f2def130e 94 case '6': //button 6 down arrow
yjaafar3 2:002f2def130e 95 if (bhit=='1') {
yjaafar3 2:002f2def130e 96 set_speed(-0.5, -0.5);
yjaafar3 2:002f2def130e 97 } else {
yjaafar3 2:002f2def130e 98 set_speed(0, 0);
yjaafar3 2:002f2def130e 99 }
yjaafar3 2:002f2def130e 100 break;
yjaafar3 2:002f2def130e 101 case '7': //button 7 left arrow
yjaafar3 2:002f2def130e 102 if (bhit=='1') {
yjaafar3 2:002f2def130e 103 set_speed(-0.5, 0.5);
yjaafar3 2:002f2def130e 104 } else {
yjaafar3 2:002f2def130e 105 set_speed(0, 0);
yjaafar3 2:002f2def130e 106 }
yjaafar3 2:002f2def130e 107 break;
yjaafar3 2:002f2def130e 108 case '8': //button 8 right arrow
yjaafar3 2:002f2def130e 109 if (bhit=='1') {
yjaafar3 2:002f2def130e 110 set_speed(0.5, -0.5);
yjaafar3 2:002f2def130e 111 } else {
yjaafar3 2:002f2def130e 112 set_speed(0, 0);
yjaafar3 2:002f2def130e 113 }
yjaafar3 2:002f2def130e 114 break;
yjaafar3 2:002f2def130e 115 default:
yjaafar3 2:002f2def130e 116 break;
yjaafar3 2:002f2def130e 117 }
yjaafar3 2:002f2def130e 118 }
yjaafar3 2:002f2def130e 119 }
yjaafar3 2:002f2def130e 120 }
yjaafar3 2:002f2def130e 121 }
yjaafar3 2:002f2def130e 122 }
yjaafar3 2:002f2def130e 123
yjaafar3 2:002f2def130e 124 void set_speed(float left, float right) {
yjaafar3 2:002f2def130e 125 drive_mutex.lock();
yjaafar3 2:002f2def130e 126 speed_left = left;
yjaafar3 2:002f2def130e 127 speed_right = right;
yjaafar3 2:002f2def130e 128 drive_mutex.unlock();
yjaafar3 2:002f2def130e 129 }
yjaafar3 2:002f2def130e 130
yjaafar3 2:002f2def130e 131 void set_turret_delta(float delta) {
yjaafar3 2:002f2def130e 132 turret_mutex.lock();
yjaafar3 2:002f2def130e 133 turret_delta = delta;
yjaafar3 2:002f2def130e 134 turret_mutex.unlock();
yjaafar3 2:002f2def130e 135 }
yjaafar3 2:002f2def130e 136
yjaafar3 2:002f2def130e 137 void fire_cannon(bool f) {
yjaafar3 2:002f2def130e 138 fire_mutex.lock();
yjaafar3 2:002f2def130e 139 fire = f;
yjaafar3 2:002f2def130e 140 fire_mutex.unlock();
yjaafar3 2:002f2def130e 141 }