Gunar Kroeger / Mbed OS PID_floating_ball

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   TextLCD

Fork of mbed-os-example-mbed5-blinky by mbed-os-examples

main.cpp@43:5123f24e0b2c, 2017-07-07 (annotated)

Committer:
gunarthon
Date:
Fri Jul 07 00:16:14 2017 +0000
Revision:
43:5123f24e0b2c
Parent:
42:b69538bba4f9 
final version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jonathan Austin 0:2757d7abb7d9 1 #include "mbed.h"
gunarthon 38:b760c09b311c 2 #include "Queue.h"
gunarthon 38:b760c09b311c 3 #include "TextLCD.h"
gunarthon 38:b760c09b311c 4 #include "pid.h"
gunarthon 39:e4f5710b2f31 5 #include <Serial.h>
gunarthon 42:b69538bba4f9 6 #include "EthernetInterface.h"
Jonathan Austin 0:2757d7abb7d9 7
gunarthon 38:b760c09b311c 8 //definitions
gunarthon 38:b760c09b311c 9 typedef struct {
gunarthon 40:19d51f6e6800 10 double input;
gunarthon 38:b760c09b311c 11 } message_t;
gunarthon 38:b760c09b311c 12
gunarthon 42:b69538bba4f9 13 bool useUDP = false;
gunarthon 40:19d51f6e6800 14 const int heightResolution = 1000;
gunarthon 39:e4f5710b2f31 15 const int BAUDRATE = 115200;
gunarthon 42:b69538bba4f9 16 const char* host_address = "10.1.1.101";
gunarthon 42:b69538bba4f9 17 const int host_port = 7;
gunarthon 40:19d51f6e6800 18 const int cameraFPS = 60;
gunarthon 40:19d51f6e6800 19 const int displayRefreshTime = 200;
gunarthon 38:b760c09b311c 20 const double setPoint = 0.5;
gunarthon 40:19d51f6e6800 21 const double Kp = 0.02;
gunarthon 40:19d51f6e6800 22 const double Ki = 0;
gunarthon 40:19d51f6e6800 23 const double Kd = 0;
gunarthon 41:3bc2a3885b9d 24 const double configStep = 0.001;
gunarthon 41:3bc2a3885b9d 25 const double configFastStep = configStep*10;
gunarthon 38:b760c09b311c 26
gunarthon 40:19d51f6e6800 27 const int simulationSeconds = 10;
gunarthon 40:19d51f6e6800 28
gunarthon 40:19d51f6e6800 29 enum {btnRIGHT, btnUP, btnDOWN, btnLEFT, btnSELECT, btnNONE, btnSIZE};
gunarthon 40:19d51f6e6800 30 enum {menuSETPOINT, menuPID, menuSIMULATE, menuSIZE};
gunarthon 40:19d51f6e6800 31 enum {parameterKP, parameterKI, parameterKD, parameterSIZE};
gunarthon 40:19d51f6e6800 32 enum {simulSTEP, simulRAMP, simulNONE, simulSIZE};
Jonathan Austin 0:2757d7abb7d9 33
gunarthon 38:b760c09b311c 34 //Pins
gunarthon 38:b760c09b311c 35 PwmOut outPin(D3);
gunarthon 43:5123f24e0b2c 36 DigitalOut led1(LED1);
gunarthon 40:19d51f6e6800 37 //DigitalOut led2(LED2);
gunarthon 38:b760c09b311c 38 DigitalOut led3(LED3);
gunarthon 38:b760c09b311c 39 AnalogIn buttons(A0);
gunarthon 38:b760c09b311c 40
gunarthon 38:b760c09b311c 41 //Threads
gunarthon 41:3bc2a3885b9d 42 Thread lcdThread;
gunarthon 38:b760c09b311c 43 Thread pidThread;
gunarthon 42:b69538bba4f9 44 Thread serialThread;
gunarthon 38:b760c09b311c 45 Thread hmiThread;
gunarthon 40:19d51f6e6800 46 Thread setPointThread;
gunarthon 42:b69538bba4f9 47 Thread udpThread;
gunarthon 38:b760c09b311c 48
gunarthon 38:b760c09b311c 49 //Global variables
gunarthon 38:b760c09b311c 50 TextLCD lcd(D8, D9, D4, D5, D6, D7); // rs, e, d4-d7
gunarthon 38:b760c09b311c 51 Pid* pidController;
gunarthon 38:b760c09b311c 52 MemoryPool<message_t, 16> mpool;
gunarthon 38:b760c09b311c 53 Queue<message_t,16> messageQueue;
gunarthon 38:b760c09b311c 54
gunarthon 40:19d51f6e6800 55 //Menu settings
gunarthon 40:19d51f6e6800 56 int menu = menuSETPOINT;
gunarthon 40:19d51f6e6800 57 int parameter = parameterKP;
gunarthon 40:19d51f6e6800 58 int simul = simulNONE;
gunarthon 41:3bc2a3885b9d 59 bool setPointSimul = false;
gunarthon 40:19d51f6e6800 60
gunarthon 42:b69538bba4f9 61
gunarthon 42:b69538bba4f9 62 // Network interface
gunarthon 42:b69538bba4f9 63 EthernetInterface net;
gunarthon 39:e4f5710b2f31 64
gunarthon 38:b760c09b311c 65 //=============================Thread Methodes==================================
gunarthon 40:19d51f6e6800 66 void setPointMethode(void)
gunarthon 40:19d51f6e6800 67 {
gunarthon 41:3bc2a3885b9d 68 while(1) //toggle every 20 seconds between 2 setPoint values
gunarthon 40:19d51f6e6800 69 {
gunarthon 41:3bc2a3885b9d 70 while(!setPointSimul) Thread::wait(2000);
gunarthon 41:3bc2a3885b9d 71
gunarthon 41:3bc2a3885b9d 72 if(setPointSimul)
gunarthon 41:3bc2a3885b9d 73 {
gunarthon 41:3bc2a3885b9d 74 pidController->setSetPoint(0.2);
gunarthon 41:3bc2a3885b9d 75 Thread::wait(20000);
gunarthon 41:3bc2a3885b9d 76 if(setPointSimul)
gunarthon 41:3bc2a3885b9d 77 {
gunarthon 41:3bc2a3885b9d 78 pidController->setSetPoint(0.8);
gunarthon 41:3bc2a3885b9d 79 Thread::wait(20000);
gunarthon 41:3bc2a3885b9d 80 }
gunarthon 41:3bc2a3885b9d 81 }
gunarthon 40:19d51f6e6800 82 }
gunarthon 40:19d51f6e6800 83 }
gunarthon 41:3bc2a3885b9d 84 void LcdMethode(void)
gunarthon 38:b760c09b311c 85 {
gunarthon 38:b760c09b311c 86 while(true)
gunarthon 38:b760c09b311c 87 {
gunarthon 40:19d51f6e6800 88 double lastPwm = pidController->getLastPwm();
gunarthon 40:19d51f6e6800 89 double lastInput = pidController->getLastInput();
gunarthon 40:19d51f6e6800 90
gunarthon 40:19d51f6e6800 91 if(menu == menuSETPOINT)
gunarthon 40:19d51f6e6800 92 {
gunarthon 40:19d51f6e6800 93 lcd.cls();
gunarthon 40:19d51f6e6800 94 lcd.printf("set in out");
gunarthon 40:19d51f6e6800 95 lcd.locate(0,1);
gunarthon 40:19d51f6e6800 96 lcd.printf("%d", int(1000*pidController->getSetPoint()));
gunarthon 40:19d51f6e6800 97 lcd.locate(6,1);
gunarthon 40:19d51f6e6800 98 lcd.printf("%d", int(1000*lastInput));
gunarthon 40:19d51f6e6800 99 lcd.locate(12,1);
gunarthon 40:19d51f6e6800 100 lcd.printf("%d", int(1000*lastPwm));
gunarthon 40:19d51f6e6800 101 }
gunarthon 40:19d51f6e6800 102 else if(menu == menuPID)
gunarthon 40:19d51f6e6800 103 {
gunarthon 40:19d51f6e6800 104 lcd.cls();
gunarthon 40:19d51f6e6800 105 lcd.printf(" Kp Ki Kd");
gunarthon 40:19d51f6e6800 106 lcd.locate(6*parameter, 0);
gunarthon 40:19d51f6e6800 107 lcd.printf("*");
gunarthon 40:19d51f6e6800 108 lcd.locate(0,1);
gunarthon 40:19d51f6e6800 109 lcd.printf("%d", int(1000*pidController->getKp()));
gunarthon 40:19d51f6e6800 110 lcd.locate(6,1);
gunarthon 40:19d51f6e6800 111 lcd.printf("%d", int(1000*pidController->getKi()));
gunarthon 40:19d51f6e6800 112 lcd.locate(12,1);
gunarthon 40:19d51f6e6800 113 lcd.printf("%d", int(1000*pidController->getKd()));
gunarthon 40:19d51f6e6800 114 }
gunarthon 40:19d51f6e6800 115 else if(menu == menuSIMULATE)
gunarthon 40:19d51f6e6800 116 {
gunarthon 40:19d51f6e6800 117 lcd.cls();
gunarthon 40:19d51f6e6800 118 if(simul == simulNONE)
gunarthon 41:3bc2a3885b9d 119 {
gunarthon 41:3bc2a3885b9d 120 if(setPointSimul)
gunarthon 41:3bc2a3885b9d 121 lcd.printf("u:STEP * d:RAMP");
gunarthon 41:3bc2a3885b9d 122 else
gunarthon 41:3bc2a3885b9d 123 lcd.printf("u:STEP _ d:RAMP");
gunarthon 41:3bc2a3885b9d 124 }
gunarthon 40:19d51f6e6800 125 else
gunarthon 40:19d51f6e6800 126 lcd.printf("set $in$ out");
gunarthon 40:19d51f6e6800 127 lcd.locate(0,1);
gunarthon 40:19d51f6e6800 128 lcd.printf("%d", int(1000*pidController->getSetPoint()));
gunarthon 40:19d51f6e6800 129 lcd.locate(6,1);
gunarthon 40:19d51f6e6800 130 lcd.printf("%d", int(1000*lastInput));
gunarthon 40:19d51f6e6800 131 lcd.locate(12,1);
gunarthon 40:19d51f6e6800 132 lcd.printf("%d", int(1000*lastPwm));
gunarthon 40:19d51f6e6800 133 }
gunarthon 40:19d51f6e6800 134 Thread::wait(displayRefreshTime);
Jonathan Austin 0:2757d7abb7d9 135 }
Jonathan Austin 0:2757d7abb7d9 136 }
Jonathan Austin 1:846c97078558 137
gunarthon 38:b760c09b311c 138 //------------------------------------------------------------------------------
gunarthon 38:b760c09b311c 139
gunarthon 38:b760c09b311c 140 void PidMethode(void)
gunarthon 38:b760c09b311c 141 {
gunarthon 38:b760c09b311c 142 while(true)
gunarthon 38:b760c09b311c 143 {
gunarthon 38:b760c09b311c 144 osEvent ev = messageQueue.get(osWaitForever);
gunarthon 38:b760c09b311c 145 if (ev.status == osEventMessage)
gunarthon 38:b760c09b311c 146 {
gunarthon 38:b760c09b311c 147 message_t *message = (message_t*)ev.value.p;
gunarthon 38:b760c09b311c 148
gunarthon 40:19d51f6e6800 149 double input = message->input;
gunarthon 38:b760c09b311c 150
gunarthon 38:b760c09b311c 151 double newPwm = pidController->getPwm(input);
gunarthon 38:b760c09b311c 152
gunarthon 38:b760c09b311c 153 outPin.write(newPwm);
gunarthon 38:b760c09b311c 154
gunarthon 38:b760c09b311c 155 mpool.free(message);
gunarthon 38:b760c09b311c 156 }
gunarthon 38:b760c09b311c 157 }
gunarthon 38:b760c09b311c 158 }
gunarthon 38:b760c09b311c 159 //------------------------------------------------------------------------------
gunarthon 38:b760c09b311c 160
gunarthon 42:b69538bba4f9 161 void SerialMethode(void)
gunarthon 38:b760c09b311c 162 {
gunarthon 39:e4f5710b2f31 163 Serial serial(USBTX, USBRX);
gunarthon 39:e4f5710b2f31 164 serial.baud(BAUDRATE);
gunarthon 39:e4f5710b2f31 165 serial.format(8, SerialBase::None, 1);
gunarthon 40:19d51f6e6800 166 double input = 0;
gunarthon 39:e4f5710b2f31 167
gunarthon 38:b760c09b311c 168 while(true)
gunarthon 38:b760c09b311c 169 {
gunarthon 40:19d51f6e6800 170 input = double(serial.getc()+(serial.getc()<<8)) / heightResolution;
gunarthon 38:b760c09b311c 171 message_t *message = mpool.alloc();
gunarthon 38:b760c09b311c 172 message->input = input;
gunarthon 38:b760c09b311c 173 messageQueue.put(message);
gunarthon 38:b760c09b311c 174 }
gunarthon 38:b760c09b311c 175 }
gunarthon 42:b69538bba4f9 176 //------------------------------------------------------------------------------
gunarthon 42:b69538bba4f9 177
gunarthon 42:b69538bba4f9 178 void UdpMethode(void)
gunarthon 42:b69538bba4f9 179 {
gunarthon 42:b69538bba4f9 180 UDPSocket socket(&net);
gunarthon 42:b69538bba4f9 181 socket.bind(host_port);
gunarthon 42:b69538bba4f9 182 SocketAddress socketAddress;
gunarthon 42:b69538bba4f9 183 socket.set_blocking(true);
gunarthon 42:b69538bba4f9 184 uint16_t packet = 0;
gunarthon 42:b69538bba4f9 185 double input = 0;
gunarthon 42:b69538bba4f9 186 while(true)
gunarthon 42:b69538bba4f9 187 {
gunarthon 42:b69538bba4f9 188 //socket.sendto(host_address, host_port, (const void*)input, sizeof(input));
gunarthon 42:b69538bba4f9 189 //input += 1;
gunarthon 42:b69538bba4f9 190 socket.recvfrom(&socketAddress, &packet, sizeof(packet));
gunarthon 42:b69538bba4f9 191
gunarthon 42:b69538bba4f9 192 input = double(packet) / heightResolution;
gunarthon 42:b69538bba4f9 193 message_t *message = mpool.alloc();
gunarthon 42:b69538bba4f9 194 message->input = input;
gunarthon 42:b69538bba4f9 195 messageQueue.put(message);
gunarthon 42:b69538bba4f9 196 Thread::wait(300);
gunarthon 42:b69538bba4f9 197 }
gunarthon 42:b69538bba4f9 198 }
gunarthon 42:b69538bba4f9 199
gunarthon 42:b69538bba4f9 200 //------------------------------------------------------------------------------
gunarthon 38:b760c09b311c 201
gunarthon 40:19d51f6e6800 202 unsigned readButtons()
gunarthon 38:b760c09b311c 203 {
gunarthon 38:b760c09b311c 204 double buttonsValue = buttons.read();
gunarthon 38:b760c09b311c 205
gunarthon 38:b760c09b311c 206 unsigned button = btnNONE;
gunarthon 38:b760c09b311c 207 if(buttonsValue < 0.08) //0.000
gunarthon 38:b760c09b311c 208 button = btnRIGHT;
gunarthon 38:b760c09b311c 209 else if(buttonsValue < 0.28) //0.170
gunarthon 38:b760c09b311c 210 button = btnUP;
gunarthon 38:b760c09b311c 211 else if(buttonsValue < 0.51) //0.397
gunarthon 38:b760c09b311c 212 button = btnDOWN;
gunarthon 38:b760c09b311c 213 else if(buttonsValue < 0.78) //0.621
gunarthon 38:b760c09b311c 214 button = btnLEFT;
gunarthon 38:b760c09b311c 215 else if(buttonsValue < 0.97) //0.936
gunarthon 38:b760c09b311c 216 button = btnSELECT;
gunarthon 38:b760c09b311c 217 else //1.000
gunarthon 38:b760c09b311c 218 button = btnNONE;
gunarthon 38:b760c09b311c 219
gunarthon 40:19d51f6e6800 220 return button;
gunarthon 40:19d51f6e6800 221
gunarthon 40:19d51f6e6800 222 }
gunarthon 40:19d51f6e6800 223 //------------------------------------------------------------------------------
gunarthon 40:19d51f6e6800 224 //human-machine interface
gunarthon 40:19d51f6e6800 225 void hmiMethode(void)
gunarthon 40:19d51f6e6800 226 {
gunarthon 40:19d51f6e6800 227
gunarthon 40:19d51f6e6800 228 unsigned button = btnNONE;
gunarthon 41:3bc2a3885b9d 229 bool fastChange = false;
gunarthon 40:19d51f6e6800 230 while(true)
gunarthon 40:19d51f6e6800 231 {
gunarthon 38:b760c09b311c 232
gunarthon 41:3bc2a3885b9d 233 button = readButtons();
gunarthon 41:3bc2a3885b9d 234 while(button == btnNONE)
gunarthon 41:3bc2a3885b9d 235 {
gunarthon 40:19d51f6e6800 236 button = readButtons();
gunarthon 41:3bc2a3885b9d 237 Thread::wait(10);
gunarthon 41:3bc2a3885b9d 238 fastChange = false;
gunarthon 41:3bc2a3885b9d 239 }
gunarthon 40:19d51f6e6800 240
gunarthon 38:b760c09b311c 241 double prevSetPoint = pidController->getSetPoint();
gunarthon 38:b760c09b311c 242 double newSetPoint = prevSetPoint;
gunarthon 40:19d51f6e6800 243
gunarthon 40:19d51f6e6800 244 if(button == btnSELECT)
gunarthon 40:19d51f6e6800 245 {
gunarthon 40:19d51f6e6800 246 menu = (menu+1) % menuSIZE;
gunarthon 40:19d51f6e6800 247 simul = simulNONE;
gunarthon 40:19d51f6e6800 248 }
gunarthon 40:19d51f6e6800 249 else if(menu == menuSETPOINT)
gunarthon 40:19d51f6e6800 250 {
gunarthon 40:19d51f6e6800 251 if(button == btnUP)
gunarthon 41:3bc2a3885b9d 252 newSetPoint += fastChange ? configFastStep : configStep;
gunarthon 40:19d51f6e6800 253 else if(button == btnDOWN)
gunarthon 41:3bc2a3885b9d 254 newSetPoint -= fastChange ? configFastStep : configStep;
gunarthon 40:19d51f6e6800 255 else if(button == btnLEFT)
gunarthon 41:3bc2a3885b9d 256 newSetPoint -= fastChange ? 10*configFastStep : 10*configStep;
gunarthon 40:19d51f6e6800 257 else if(button == btnRIGHT)
gunarthon 41:3bc2a3885b9d 258 newSetPoint += fastChange ? 10*configFastStep : 10*configStep;
gunarthon 40:19d51f6e6800 259
gunarthon 40:19d51f6e6800 260 pidController->setSetPoint(newSetPoint);
gunarthon 40:19d51f6e6800 261 }
gunarthon 40:19d51f6e6800 262 else if(menu == menuPID)
gunarthon 40:19d51f6e6800 263 {
gunarthon 40:19d51f6e6800 264 if(button == btnUP)
gunarthon 40:19d51f6e6800 265 {
gunarthon 40:19d51f6e6800 266 if(parameter == parameterKP)
gunarthon 41:3bc2a3885b9d 267 pidController->addKp(fastChange ? configFastStep : configStep);
gunarthon 40:19d51f6e6800 268 else if(parameter == parameterKI)
gunarthon 41:3bc2a3885b9d 269 pidController->addKi(fastChange ? configFastStep : configStep);
gunarthon 40:19d51f6e6800 270 else if(parameter == parameterKD)
gunarthon 41:3bc2a3885b9d 271 pidController->addKd(fastChange ? configFastStep : configStep);
gunarthon 40:19d51f6e6800 272 }
gunarthon 40:19d51f6e6800 273 else if(button == btnDOWN)
gunarthon 40:19d51f6e6800 274 {
gunarthon 40:19d51f6e6800 275 if(parameter == parameterKP)
gunarthon 41:3bc2a3885b9d 276 pidController->addKp(fastChange ? -configFastStep : -configStep);
gunarthon 40:19d51f6e6800 277 else if(parameter == parameterKI)
gunarthon 41:3bc2a3885b9d 278 pidController->addKi(fastChange ? -configFastStep : -configStep);
gunarthon 40:19d51f6e6800 279 else if(parameter == parameterKD)
gunarthon 41:3bc2a3885b9d 280 pidController->addKd(fastChange ? -configFastStep : -configStep);
gunarthon 40:19d51f6e6800 281 }
gunarthon 40:19d51f6e6800 282 else if(button == btnLEFT)
gunarthon 40:19d51f6e6800 283 parameter = (parameter+1) % parameterSIZE;
gunarthon 40:19d51f6e6800 284 else if(button == btnRIGHT)
gunarthon 40:19d51f6e6800 285 pidController->setParameters(Kp, Ki, Kd);
gunarthon 40:19d51f6e6800 286 }
gunarthon 40:19d51f6e6800 287
gunarthon 40:19d51f6e6800 288 else if(menu == menuSIMULATE)
gunarthon 40:19d51f6e6800 289 {
gunarthon 40:19d51f6e6800 290 if(button == btnUP) //step
gunarthon 40:19d51f6e6800 291 {
gunarthon 40:19d51f6e6800 292 simul = simulSTEP;
gunarthon 40:19d51f6e6800 293 for(unsigned i = 0; i < cameraFPS * simulationSeconds; i++)
gunarthon 40:19d51f6e6800 294 {
gunarthon 40:19d51f6e6800 295 double input = i < cameraFPS * simulationSeconds / 2 ? 0 : 1;
gunarthon 40:19d51f6e6800 296 message_t *message = mpool.alloc();
gunarthon 40:19d51f6e6800 297 message->input = input;
gunarthon 40:19d51f6e6800 298 messageQueue.put(message);
gunarthon 40:19d51f6e6800 299
gunarthon 40:19d51f6e6800 300 Thread::wait(1000/cameraFPS);
gunarthon 40:19d51f6e6800 301 }
gunarthon 40:19d51f6e6800 302 simul = simulNONE;
gunarthon 40:19d51f6e6800 303 }
gunarthon 40:19d51f6e6800 304 else if(button == btnDOWN) //ramp
gunarthon 40:19d51f6e6800 305 {
gunarthon 40:19d51f6e6800 306 simul = simulRAMP;
gunarthon 40:19d51f6e6800 307 for(unsigned i = 0; i < cameraFPS * simulationSeconds; i++)
gunarthon 40:19d51f6e6800 308 {
gunarthon 40:19d51f6e6800 309 double input = double(i) / ((cameraFPS * simulationSeconds)-1);
gunarthon 40:19d51f6e6800 310 message_t *message = mpool.alloc();
gunarthon 40:19d51f6e6800 311 message->input = input;
gunarthon 40:19d51f6e6800 312 messageQueue.put(message);
gunarthon 40:19d51f6e6800 313
gunarthon 40:19d51f6e6800 314 Thread::wait(1000/cameraFPS);
gunarthon 40:19d51f6e6800 315 }
gunarthon 40:19d51f6e6800 316 simul = simulNONE;
gunarthon 40:19d51f6e6800 317 }
gunarthon 41:3bc2a3885b9d 318 else if(button == btnLEFT)
gunarthon 41:3bc2a3885b9d 319 setPointSimul = true;
gunarthon 40:19d51f6e6800 320 else if(button == btnRIGHT)
gunarthon 41:3bc2a3885b9d 321 setPointSimul = false;
gunarthon 38:b760c09b311c 322
gunarthon 40:19d51f6e6800 323 }
gunarthon 41:3bc2a3885b9d 324 unsigned repeatCount = 0;
gunarthon 41:3bc2a3885b9d 325 while(button != btnNONE && !fastChange)
gunarthon 40:19d51f6e6800 326 {
gunarthon 41:3bc2a3885b9d 327 repeatCount++;
gunarthon 40:19d51f6e6800 328 button = readButtons();
gunarthon 40:19d51f6e6800 329 Thread::wait(10);
gunarthon 41:3bc2a3885b9d 330 if(repeatCount > 50)
gunarthon 41:3bc2a3885b9d 331 fastChange = true;
gunarthon 41:3bc2a3885b9d 332 }
gunarthon 38:b760c09b311c 333 Thread::wait(100);
gunarthon 38:b760c09b311c 334 }
gunarthon 38:b760c09b311c 335 }
gunarthon 38:b760c09b311c 336
gunarthon 38:b760c09b311c 337 //=============================Main Thread======================================
gunarthon 38:b760c09b311c 338 // main() runs in its own thread in the OS
gunarthon 38:b760c09b311c 339
gunarthon 38:b760c09b311c 340 int main() {
gunarthon 38:b760c09b311c 341
gunarthon 38:b760c09b311c 342 //led1.period(4.0f); // 4 second period
gunarthon 38:b760c09b311c 343
gunarthon 38:b760c09b311c 344 lcd.cls();
gunarthon 38:b760c09b311c 345 lcd.printf("HELLO");
gunarthon 38:b760c09b311c 346
gunarthon 42:b69538bba4f9 347 Thread::wait(2000);
gunarthon 42:b69538bba4f9 348 if(readButtons() == btnDOWN)
gunarthon 42:b69538bba4f9 349 useUDP = true;
gunarthon 42:b69538bba4f9 350
gunarthon 42:b69538bba4f9 351 if(useUDP)
gunarthon 42:b69538bba4f9 352 {
gunarthon 42:b69538bba4f9 353 lcd.cls();
gunarthon 42:b69538bba4f9 354 lcd.printf("Connecting...");
gunarthon 42:b69538bba4f9 355 net.connect();
gunarthon 42:b69538bba4f9 356
gunarthon 42:b69538bba4f9 357 // Show the network address
gunarthon 42:b69538bba4f9 358 const char *ip = net.get_ip_address();
gunarthon 42:b69538bba4f9 359 lcd.cls();
gunarthon 42:b69538bba4f9 360 lcd.printf("%s", ip ? ip : "No IP");
gunarthon 42:b69538bba4f9 361 if(!ip)
gunarthon 42:b69538bba4f9 362 while(1); //terminate program
gunarthon 42:b69538bba4f9 363
gunarthon 42:b69538bba4f9 364 Thread::wait(5000);
gunarthon 42:b69538bba4f9 365 udpThread.start(UdpMethode);
gunarthon 42:b69538bba4f9 366 }
gunarthon 42:b69538bba4f9 367 else
gunarthon 42:b69538bba4f9 368 serialThread.start(SerialMethode);
gunarthon 42:b69538bba4f9 369
gunarthon 38:b760c09b311c 370 pidController = new Pid(Kp, Ki, Kd);
gunarthon 38:b760c09b311c 371 pidController->setSetPoint(setPoint);
gunarthon 38:b760c09b311c 372
gunarthon 41:3bc2a3885b9d 373 lcdThread.start(LcdMethode);
gunarthon 38:b760c09b311c 374 pidThread.start(PidMethode);
gunarthon 38:b760c09b311c 375 hmiThread.start(hmiMethode);
gunarthon 41:3bc2a3885b9d 376 setPointThread.start(setPointMethode);
gunarthon 38:b760c09b311c 377
gunarthon 38:b760c09b311c 378 while (true) {
gunarthon 43:5123f24e0b2c 379 Thread::wait(1000);
gunarthon 43:5123f24e0b2c 380 led3 != led3;
gunarthon 38:b760c09b311c 381 }
gunarthon 38:b760c09b311c 382 }
gunarthon 38:b760c09b311c 383
gunarthon 38:b760c09b311c 384 //==============================================================================
gunarthon 38:b760c09b311c 385
gunarthon 38:b760c09b311c 386
gunarthon 38:b760c09b311c 387