Kristof T'Jonck / Mbed 2 deprecated proj2_car

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Dependencies:   RemoteIR m3pi mbed-rtos mbed

Controller.cpp@1:76cff32344d1, 2017-05-09 (annotated)

Committer:
Kristof@LAPTOP-FT09DA9V.home
Date:
Tue May 09 23:02:13 2017 +0200
Revision:
1:76cff32344d1
Child:
7:1d77c7e0208c
added communication

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 1 //
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 2 // Created by Kristof on 5/9/2017.
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 3 //
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 4
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 5 #include "Controller.h"
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 6
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 7 Controller::Controller() {
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 8 //constructor once to initialise
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 9 static LightCommunication lightCommunication;
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 10 car = new m3pi();
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 11 receiveThread.start(&LightCommunication::receiveData);
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 12 ir_rx = new ReceiverIR(p21);
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 13 }
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 14
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 15 Controller::~Controller() {
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 16
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 17 }
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 18
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 19 int Controller::run() {
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 20
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 21 LightCommunication::mut.lock();
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 22 if (LightCommunication::needsToStop()){
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 23 car->stop();
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 24 LightCommunication::mut.unlock();
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 25 }else {
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 26 current_left = LightCommunication::getLeft(current_left);
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 27 current_right = LightCommunication::getRight(current_right);
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 28 LightCommunication::mut.unlock();
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 29 car->left_motor(current_left) ;
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 30 car->right_motor(current_right) ;
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 31 }
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 32 return 0;
Kristof@LAPTOP-FT09DA9V.home 1:76cff32344d1 33 }