Andrew Mkpanam
final
Diff: main.cpp
- Revision:
- 7:36b690644500
- Parent:
- 6:71ef35e456ab
--- a/main.cpp Thu Feb 20 11:28:36 2020 +0000
+++ b/main.cpp Fri Mar 20 09:27:56 2020 +0000
@@ -10,44 +10,137 @@
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
-EventFlags signals; // event flags for signalling; 2 used
+
+
+# define FLAG1 0x01
+# define FLAG2 0x02
+# define FLAG3 0x04
+# define FLAG4 0x08
+EventFlags signals; // event flags for signalling; 4 used
-void red_thread() { // method to run in thread
+void red_thread() // method to run in thread
+{
+redLED = true ; // turn off
+greenLED = true ; // turn off
+blueLED = true;
+ enum state {ON, OFF} lev ;
+ lev = OFF;
while (true) {
- signals.wait_any(REDFLAG);
- redLED = false ; // turn on
- ThisThread::sleep_for(5000) ; // 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 (lev) {
+ case ON:
+ signals.wait_any(FLAG1);
+ redLED = true ; // turn off
+ //signals.clear(FLAG1) ;
+ lev= OFF;
+ break ;
+ case OFF:
+ signals.wait_any(FLAG1);
+ redLED = false ; // turn off
+ lev = ON;
+ break ;
+ //signals.clear(FLAG1) ;
+ // Signal are automatically cleared by wait_any but
+ } // the signal might have been set again while LED on
}
}
-void green_thread() { // method to run in thread
+void green_thread() // method to run in thread
+{
+ redLED = true ; // turn off
+ greenLED = true ; // turn off
+ blueLED = true;
+ enum state {ON, OFF} lev ;
+ lev = OFF;
+ while (true) {
+ switch (lev) {
+ case ON:
+ signals.wait_any(FLAG2);
+ greenLED = true ; // turn off
+ lev = OFF;
+ break ;
+ //signals.clear(FLAG2) ;
+ case OFF:
+ signals.wait_any(FLAG2);
+ greenLED = false ; // turn off
+ lev = ON;
+ break ;
+
+ //signals.clear(FLAG2) ;
+ // Signal are automatically cleared by wait_any but
+ // the signal might have been set again while LED on
+ }
+ }
+}
+void blue_thread() // method to run in thread
+{
+redLED = true ; // turn off
+greenLED = true ; // turn off
+blueLED = true;
+ enum state {ON, OFF} lev ;
+ lev = OFF;
while (true) {
- signals.wait_any(GREENFLAG);
- greenLED = false ; // turn on
- ThisThread::sleep_for(5000) ; // wait(5.0);
- greenLED = true ; // turn off
- signals.clear(GREENFLAG) ;
+ switch (lev) {
+ case ON:
+ signals.wait_any(FLAG3);
+ blueLED = true ; // turn off
+ lev = OFF ;
+ break ;
+ //signals.clear(FLAG3) ;
+ case OFF:
+ signals.wait_any(FLAG3);
+ blueLED = false ; // turn off
+ lev = ON ;
+ break ;
+ //signals.clear(FLAG3) ;
+ // Signal are automatically cleared by wait_any but
+ // the signal might have been set again while LED on
+ }
+ }
+}
+void white_thread() { // method to run in thread
+redLED = true ; // turn off
+greenLED = true ; // turn off
+blueLED = true;
+enum state {ON, OFF} lev ;
+ lev = OFF;
+ while (true) {
+ switch (lev){
+ case ON:
+ signals.wait_any(FLAG4);
+ break ;
+ lev = OFF;
+ case OFF:
+ signals.wait_any(FLAG4);
+ break ;
+ lev = ON;
+ //signals.clear(FLAG4) ;
// Signal are automatically cleared by wait_any but
// the signal might have been set again while LED on
+ }
}
}
int main(void) {
- redLED = true ; // turn off
- greenLED = true ; // turn off
+ //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) ; // start the red thread
+ whiteThread.start(white_thread) ; // start the green thread
+
+ enum position { none, leftout, leftin, rightin, rightout,} pos;
+ pos = none;
while (true) {
uint8_t d = tsi.readDistance() ; // Distance is between 0 and 39
@@ -55,9 +148,62 @@
// Left --> low value Right --> high value
pc.printf("%d", d) ;
pc.putc(' ') ;
- if (d == 10) signals.set(REDFLAG) ;
- if (d == 20) signals.set(GREENFLAG) ;
+ switch (pos) {
+
+ case none:
+ if ((d > 3)&& (d<9)) {
+ pos = leftout;
+ signals.set(FLAG1);
+ pc.printf("Case Leftout \n\r", d);
+ }
+ if ((d > 13)&&(d<19)) {
+ pos = leftin;
+ signals.set(FLAG2);
+ pc.printf("Case Leftin \n\r", d);
+ }
+ if ((d > 23)&&(d <29)) {
+ pos = rightin;
+ signals.set(FLAG3);
+ pc.printf("Case Rightin \n\r", d);
+ }
+ if (d > 33) {
+ pos = rightout;
+ signals.set(FLAG4);
+ pc.printf("Case Rightiout \n\r", d);
+ }
+ break;
+
+ case leftout:
+ if ((d < 3)||(d>9)) {
+ pos = none;
+ pc.printf("Case None \n\r", d);
+ }
+ break;
+
+ case leftin:
+ if ((d < 13)||(d>19)) {
+ pos = none;
+ pc.printf("Case None \n\r", d);
+ }
+ break;
+
+ case rightin:
+ if ((d < 23)||(d>29)) {
+ pos = none;
+ pc.printf("Case None \n\r", d);
+ }
+ break;
+ case rightout:
+ if (d < 33) {
+ pos = none;
+ pc.printf("Case None \n\r", d);
+ }
+ break;
+ }
+
+ //if (d == 10) signals.set(REDFLAG) ;
+ //if (d == 20) signals.set(GREENFLAG) ;
ThisThread::sleep_for(500) ; // This polling rate is too slow - increase it
- // The slower rate maks it easier to output on the terminal
+ // The slower rate maks it easier to output on the terminal
}
}
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