Cynthia Wang / Mbed 2 deprecated ECE4180-FinalProject

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Dependencies:   mbed-rtos mbed Servo Motor SoftPWM

main.cpp@3:9febeec1f271, 2022-11-15 (annotated)

Committer:
yjaafar3
Date:
Tue Nov 15 22:58:30 2022 +0000
Revision:
3:9febeec1f271
Parent:
2:002f2def130e
Child:
5:e5bf798e0522
Added turret functionality

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"
yjaafar3 3:9febeec1f271 4 #include "Servo.h"
cwang776 0:16c007acb3a2 5
yjaafar3 2:002f2def130e 6 Serial blue(p28, p27);
yjaafar3 3:9febeec1f271 7 Servo turret(p24);
cwang776 0:16c007acb3a2 8
yjaafar3 2:002f2def130e 9 volatile float speed_left = 0;
yjaafar3 2:002f2def130e 10 volatile float speed_right = 0;
yjaafar3 2:002f2def130e 11 volatile float turret_delta = 0;
yjaafar3 2:002f2def130e 12 volatile bool fire = false;
cwang776 0:16c007acb3a2 13
cwang776 0:16c007acb3a2 14
yjaafar3 2:002f2def130e 15 Mutex drive_mutex;
yjaafar3 2:002f2def130e 16 Mutex turret_mutex;
yjaafar3 2:002f2def130e 17 Mutex fire_mutex;
yjaafar3 2:002f2def130e 18
yjaafar3 2:002f2def130e 19 Thread thread_drive;
yjaafar3 2:002f2def130e 20 Thread thread_turret;
yjaafar3 2:002f2def130e 21 Thread thread_fire;
yjaafar3 2:002f2def130e 22
yjaafar3 2:002f2def130e 23 void input_loop();
yjaafar3 2:002f2def130e 24 void set_speed(float l, float r);
yjaafar3 2:002f2def130e 25 void set_turret_delta(float delta);
yjaafar3 2:002f2def130e 26 void fire_cannon(bool f);
yjaafar3 2:002f2def130e 27
yjaafar3 2:002f2def130e 28 void input_thread() {
yjaafar3 2:002f2def130e 29
cwang776 0:16c007acb3a2 30 }
cwang776 0:16c007acb3a2 31
yjaafar3 2:002f2def130e 32 void drive_thread() {
yjaafar3 2:002f2def130e 33
yjaafar3 2:002f2def130e 34 }
cwang776 0:16c007acb3a2 35
yjaafar3 2:002f2def130e 36 void turret_thread() {
yjaafar3 3:9febeec1f271 37 while (1) {
yjaafar3 3:9febeec1f271 38 turret_mutex.lock();
yjaafar3 3:9febeec1f271 39 if (turret + turret_delta < 0) {
yjaafar3 3:9febeec1f271 40 turret = 1;
yjaafar3 3:9febeec1f271 41 } else if (turret + turret_delta > 1){
yjaafar3 3:9febeec1f271 42 turret = 0;
yjaafar3 3:9febeec1f271 43 } else {
yjaafar3 3:9febeec1f271 44 turret = turret + turret_delta;
yjaafar3 3:9febeec1f271 45 }
yjaafar3 3:9febeec1f271 46 turret_mutex.unlock();
yjaafar3 3:9febeec1f271 47 Thread::wait(50);
yjaafar3 3:9febeec1f271 48 }
cwang776 0:16c007acb3a2 49 }
yjaafar3 2:002f2def130e 50
yjaafar3 2:002f2def130e 51 void fire_thread() {
yjaafar3 2:002f2def130e 52
yjaafar3 2:002f2def130e 53 }
yjaafar3 2:002f2def130e 54
cwang776 0:16c007acb3a2 55
cwang776 0:16c007acb3a2 56 int main() {
yjaafar3 2:002f2def130e 57 thread_drive.start(drive_thread);
yjaafar3 2:002f2def130e 58 thread_turret.start(turret_thread);
yjaafar3 2:002f2def130e 59 thread_fire.start(fire_thread);
yjaafar3 2:002f2def130e 60
yjaafar3 2:002f2def130e 61 input_loop();
cwang776 0:16c007acb3a2 62 }
yjaafar3 2:002f2def130e 63
yjaafar3 2:002f2def130e 64 void input_loop() {
yjaafar3 2:002f2def130e 65 char bnum=0;
yjaafar3 2:002f2def130e 66 char bhit=0;
yjaafar3 2:002f2def130e 67 while(1) {
yjaafar3 2:002f2def130e 68 if (blue.getc()=='!') {
yjaafar3 2:002f2def130e 69 if (blue.getc()=='B') { //button data packet
yjaafar3 2:002f2def130e 70 bnum = blue.getc(); //button number
yjaafar3 2:002f2def130e 71 bhit = blue.getc(); //1=hit, 0=release
yjaafar3 2:002f2def130e 72 if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
yjaafar3 2:002f2def130e 73 switch(bnum) {
yjaafar3 2:002f2def130e 74 case '1': //Turret Left Button
yjaafar3 2:002f2def130e 75 if (bhit == '1') {
yjaafar3 2:002f2def130e 76 set_turret_delta(-0.05);
yjaafar3 2:002f2def130e 77 } else {
yjaafar3 2:002f2def130e 78 set_turret_delta(0);
yjaafar3 2:002f2def130e 79 }
yjaafar3 2:002f2def130e 80 break;
yjaafar3 2:002f2def130e 81 case '2': //Turret Right Button
yjaafar3 2:002f2def130e 82 if (bhit == '1') {
yjaafar3 2:002f2def130e 83 set_turret_delta(0.05);
yjaafar3 2:002f2def130e 84 } else {
yjaafar3 2:002f2def130e 85 set_turret_delta(0);
yjaafar3 2:002f2def130e 86 }
yjaafar3 2:002f2def130e 87 break;
yjaafar3 2:002f2def130e 88 case '3': //Fire Button
yjaafar3 2:002f2def130e 89 if (bhit == '1') {
yjaafar3 2:002f2def130e 90 fire_cannon(true);
yjaafar3 2:002f2def130e 91 } else {
yjaafar3 2:002f2def130e 92 fire_cannon(false);
yjaafar3 2:002f2def130e 93 }
yjaafar3 2:002f2def130e 94 break;
yjaafar3 2:002f2def130e 95 case '5': //button 5 up arrow
yjaafar3 2:002f2def130e 96 if (bhit=='1') {
yjaafar3 2:002f2def130e 97 set_speed(0.5, 0.5);
yjaafar3 2:002f2def130e 98 } else {
yjaafar3 2:002f2def130e 99 set_speed(0, 0);
yjaafar3 2:002f2def130e 100 }
yjaafar3 2:002f2def130e 101 break;
yjaafar3 2:002f2def130e 102 case '6': //button 6 down arrow
yjaafar3 2:002f2def130e 103 if (bhit=='1') {
yjaafar3 2:002f2def130e 104 set_speed(-0.5, -0.5);
yjaafar3 2:002f2def130e 105 } else {
yjaafar3 2:002f2def130e 106 set_speed(0, 0);
yjaafar3 2:002f2def130e 107 }
yjaafar3 2:002f2def130e 108 break;
yjaafar3 2:002f2def130e 109 case '7': //button 7 left arrow
yjaafar3 2:002f2def130e 110 if (bhit=='1') {
yjaafar3 2:002f2def130e 111 set_speed(-0.5, 0.5);
yjaafar3 2:002f2def130e 112 } else {
yjaafar3 2:002f2def130e 113 set_speed(0, 0);
yjaafar3 2:002f2def130e 114 }
yjaafar3 2:002f2def130e 115 break;
yjaafar3 2:002f2def130e 116 case '8': //button 8 right arrow
yjaafar3 2:002f2def130e 117 if (bhit=='1') {
yjaafar3 2:002f2def130e 118 set_speed(0.5, -0.5);
yjaafar3 2:002f2def130e 119 } else {
yjaafar3 2:002f2def130e 120 set_speed(0, 0);
yjaafar3 2:002f2def130e 121 }
yjaafar3 2:002f2def130e 122 break;
yjaafar3 2:002f2def130e 123 default:
yjaafar3 2:002f2def130e 124 break;
yjaafar3 2:002f2def130e 125 }
yjaafar3 2:002f2def130e 126 }
yjaafar3 2:002f2def130e 127 }
yjaafar3 2:002f2def130e 128 }
yjaafar3 3:9febeec1f271 129 Thread::wait(50);
yjaafar3 2:002f2def130e 130 }
yjaafar3 2:002f2def130e 131 }
yjaafar3 2:002f2def130e 132
yjaafar3 2:002f2def130e 133 void set_speed(float left, float right) {
yjaafar3 2:002f2def130e 134 drive_mutex.lock();
yjaafar3 2:002f2def130e 135 speed_left = left;
yjaafar3 2:002f2def130e 136 speed_right = right;
yjaafar3 2:002f2def130e 137 drive_mutex.unlock();
yjaafar3 2:002f2def130e 138 }
yjaafar3 2:002f2def130e 139
yjaafar3 2:002f2def130e 140 void set_turret_delta(float delta) {
yjaafar3 2:002f2def130e 141 turret_mutex.lock();
yjaafar3 2:002f2def130e 142 turret_delta = delta;
yjaafar3 2:002f2def130e 143 turret_mutex.unlock();
yjaafar3 2:002f2def130e 144 }
yjaafar3 2:002f2def130e 145
yjaafar3 2:002f2def130e 146 void fire_cannon(bool f) {
yjaafar3 2:002f2def130e 147 fire_mutex.lock();
yjaafar3 2:002f2def130e 148 fire = f;
yjaafar3 2:002f2def130e 149 fire_mutex.unlock();
yjaafar3 2:002f2def130e 150 }