Gunar Kroeger / Mbed OS PID_floating_ball

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Dependencies:   TextLCD

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

main.cpp@42:b69538bba4f9, 2017-07-05 (annotated)

Committer:
gunarthon
Date:
Wed Jul 05 21:05:56 2017 +0000
Revision:
42:b69538bba4f9
Parent:
41:3bc2a3885b9d
Child:
43:5123f24e0b2c
added UDP option (untested)

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 40:19d51f6e6800 36 //DigitalOut led2(LED2);
gunarthon 38:b760c09b311c 37 DigitalOut led3(LED3);
gunarthon 38:b760c09b311c 38 AnalogIn buttons(A0);
gunarthon 38:b760c09b311c 39
gunarthon 38:b760c09b311c 40 //Threads
gunarthon 41:3bc2a3885b9d 41 Thread lcdThread;
gunarthon 38:b760c09b311c 42 Thread pidThread;
gunarthon 42:b69538bba4f9 43 Thread serialThread;
gunarthon 38:b760c09b311c 44 Thread hmiThread;
gunarthon 40:19d51f6e6800 45 Thread setPointThread;
gunarthon 42:b69538bba4f9 46 Thread udpThread;
gunarthon 38:b760c09b311c 47
gunarthon 38:b760c09b311c 48 //Global variables
gunarthon 38:b760c09b311c 49 TextLCD lcd(D8, D9, D4, D5, D6, D7); // rs, e, d4-d7
gunarthon 38:b760c09b311c 50 Pid* pidController;
gunarthon 38:b760c09b311c 51 MemoryPool<message_t, 16> mpool;
gunarthon 38:b760c09b311c 52 Queue<message_t,16> messageQueue;
gunarthon 38:b760c09b311c 53
gunarthon 40:19d51f6e6800 54 //Menu settings
gunarthon 40:19d51f6e6800 55 int menu = menuSETPOINT;
gunarthon 40:19d51f6e6800 56 int parameter = parameterKP;
gunarthon 40:19d51f6e6800 57 int simul = simulNONE;
gunarthon 41:3bc2a3885b9d 58 bool setPointSimul = false;
gunarthon 40:19d51f6e6800 59
gunarthon 42:b69538bba4f9 60
gunarthon 42:b69538bba4f9 61 // Network interface
gunarthon 42:b69538bba4f9 62 EthernetInterface net;
gunarthon 39:e4f5710b2f31 63
gunarthon 38:b760c09b311c 64 //=============================Thread Methodes==================================
gunarthon 40:19d51f6e6800 65 void setPointMethode(void)
gunarthon 40:19d51f6e6800 66 {
gunarthon 41:3bc2a3885b9d 67 while(1) //toggle every 20 seconds between 2 setPoint values
gunarthon 40:19d51f6e6800 68 {
gunarthon 41:3bc2a3885b9d 69 while(!setPointSimul) Thread::wait(2000);
gunarthon 41:3bc2a3885b9d 70
gunarthon 41:3bc2a3885b9d 71 if(setPointSimul)
gunarthon 41:3bc2a3885b9d 72 {
gunarthon 41:3bc2a3885b9d 73 pidController->setSetPoint(0.2);
gunarthon 41:3bc2a3885b9d 74 Thread::wait(20000);
gunarthon 41:3bc2a3885b9d 75 if(setPointSimul)
gunarthon 41:3bc2a3885b9d 76 {
gunarthon 41:3bc2a3885b9d 77 pidController->setSetPoint(0.8);
gunarthon 41:3bc2a3885b9d 78 Thread::wait(20000);
gunarthon 41:3bc2a3885b9d 79 }
gunarthon 41:3bc2a3885b9d 80 }
gunarthon 40:19d51f6e6800 81 }
gunarthon 40:19d51f6e6800 82 }
gunarthon 41:3bc2a3885b9d 83 void LcdMethode(void)
gunarthon 38:b760c09b311c 84 {
gunarthon 38:b760c09b311c 85 while(true)
gunarthon 38:b760c09b311c 86 {
gunarthon 38:b760c09b311c 87 led3 = !led3;
gunarthon 40:19d51f6e6800 88
gunarthon 40:19d51f6e6800 89 double lastPwm = pidController->getLastPwm();
gunarthon 40:19d51f6e6800 90 double lastInput = pidController->getLastInput();
gunarthon 40:19d51f6e6800 91
gunarthon 40:19d51f6e6800 92 if(menu == menuSETPOINT)
gunarthon 40:19d51f6e6800 93 {
gunarthon 40:19d51f6e6800 94 lcd.cls();
gunarthon 40:19d51f6e6800 95 lcd.printf("set in out");
gunarthon 40:19d51f6e6800 96 lcd.locate(0,1);
gunarthon 40:19d51f6e6800 97 lcd.printf("%d", int(1000*pidController->getSetPoint()));
gunarthon 40:19d51f6e6800 98 lcd.locate(6,1);
gunarthon 40:19d51f6e6800 99 lcd.printf("%d", int(1000*lastInput));
gunarthon 40:19d51f6e6800 100 lcd.locate(12,1);
gunarthon 40:19d51f6e6800 101 lcd.printf("%d", int(1000*lastPwm));
gunarthon 40:19d51f6e6800 102 }
gunarthon 40:19d51f6e6800 103 else if(menu == menuPID)
gunarthon 40:19d51f6e6800 104 {
gunarthon 40:19d51f6e6800 105 lcd.cls();
gunarthon 40:19d51f6e6800 106 lcd.printf(" Kp Ki Kd");
gunarthon 40:19d51f6e6800 107 lcd.locate(6*parameter, 0);
gunarthon 40:19d51f6e6800 108 lcd.printf("*");
gunarthon 40:19d51f6e6800 109 lcd.locate(0,1);
gunarthon 40:19d51f6e6800 110 lcd.printf("%d", int(1000*pidController->getKp()));
gunarthon 40:19d51f6e6800 111 lcd.locate(6,1);
gunarthon 40:19d51f6e6800 112 lcd.printf("%d", int(1000*pidController->getKi()));
gunarthon 40:19d51f6e6800 113 lcd.locate(12,1);
gunarthon 40:19d51f6e6800 114 lcd.printf("%d", int(1000*pidController->getKd()));
gunarthon 40:19d51f6e6800 115 }
gunarthon 40:19d51f6e6800 116 else if(menu == menuSIMULATE)
gunarthon 40:19d51f6e6800 117 {
gunarthon 40:19d51f6e6800 118 lcd.cls();
gunarthon 40:19d51f6e6800 119 if(simul == simulNONE)
gunarthon 41:3bc2a3885b9d 120 {
gunarthon 41:3bc2a3885b9d 121 if(setPointSimul)
gunarthon 41:3bc2a3885b9d 122 lcd.printf("u:STEP * d:RAMP");
gunarthon 41:3bc2a3885b9d 123 else
gunarthon 41:3bc2a3885b9d 124 lcd.printf("u:STEP _ d:RAMP");
gunarthon 41:3bc2a3885b9d 125 }
gunarthon 40:19d51f6e6800 126 else
gunarthon 40:19d51f6e6800 127 lcd.printf("set $in$ out");
gunarthon 40:19d51f6e6800 128 lcd.locate(0,1);
gunarthon 40:19d51f6e6800 129 lcd.printf("%d", int(1000*pidController->getSetPoint()));
gunarthon 40:19d51f6e6800 130 lcd.locate(6,1);
gunarthon 40:19d51f6e6800 131 lcd.printf("%d", int(1000*lastInput));
gunarthon 40:19d51f6e6800 132 lcd.locate(12,1);
gunarthon 40:19d51f6e6800 133 lcd.printf("%d", int(1000*lastPwm));
gunarthon 40:19d51f6e6800 134 }
gunarthon 40:19d51f6e6800 135 Thread::wait(displayRefreshTime);
Jonathan Austin 0:2757d7abb7d9 136 }
Jonathan Austin 0:2757d7abb7d9 137 }
Jonathan Austin 1:846c97078558 138
gunarthon 38:b760c09b311c 139 //------------------------------------------------------------------------------
gunarthon 38:b760c09b311c 140
gunarthon 38:b760c09b311c 141 void PidMethode(void)
gunarthon 38:b760c09b311c 142 {
gunarthon 38:b760c09b311c 143 while(true)
gunarthon 38:b760c09b311c 144 {
gunarthon 38:b760c09b311c 145 osEvent ev = messageQueue.get(osWaitForever);
gunarthon 38:b760c09b311c 146 if (ev.status == osEventMessage)
gunarthon 38:b760c09b311c 147 {
gunarthon 38:b760c09b311c 148 message_t *message = (message_t*)ev.value.p;
gunarthon 38:b760c09b311c 149
gunarthon 40:19d51f6e6800 150 double input = message->input;
gunarthon 38:b760c09b311c 151
gunarthon 38:b760c09b311c 152 double newPwm = pidController->getPwm(input);
gunarthon 38:b760c09b311c 153
gunarthon 38:b760c09b311c 154 outPin.write(newPwm);
gunarthon 38:b760c09b311c 155
gunarthon 38:b760c09b311c 156 mpool.free(message);
gunarthon 38:b760c09b311c 157 }
gunarthon 38:b760c09b311c 158 }
gunarthon 38:b760c09b311c 159 }
gunarthon 38:b760c09b311c 160 //------------------------------------------------------------------------------
gunarthon 38:b760c09b311c 161
gunarthon 42:b69538bba4f9 162 void SerialMethode(void)
gunarthon 38:b760c09b311c 163 {
gunarthon 39:e4f5710b2f31 164 Serial serial(USBTX, USBRX);
gunarthon 39:e4f5710b2f31 165 serial.baud(BAUDRATE);
gunarthon 39:e4f5710b2f31 166 serial.format(8, SerialBase::None, 1);
gunarthon 40:19d51f6e6800 167 double input = 0;
gunarthon 39:e4f5710b2f31 168
gunarthon 38:b760c09b311c 169 while(true)
gunarthon 38:b760c09b311c 170 {
gunarthon 40:19d51f6e6800 171 input = double(serial.getc()+(serial.getc()<<8)) / heightResolution;
gunarthon 38:b760c09b311c 172 message_t *message = mpool.alloc();
gunarthon 38:b760c09b311c 173 message->input = input;
gunarthon 38:b760c09b311c 174 messageQueue.put(message);
gunarthon 38:b760c09b311c 175 }
gunarthon 38:b760c09b311c 176 }
gunarthon 42:b69538bba4f9 177 //------------------------------------------------------------------------------
gunarthon 42:b69538bba4f9 178
gunarthon 42:b69538bba4f9 179 void UdpMethode(void)
gunarthon 42:b69538bba4f9 180 {
gunarthon 42:b69538bba4f9 181 UDPSocket socket(&net);
gunarthon 42:b69538bba4f9 182 socket.bind(host_port);
gunarthon 42:b69538bba4f9 183 SocketAddress socketAddress;
gunarthon 42:b69538bba4f9 184 socket.set_blocking(true);
gunarthon 42:b69538bba4f9 185 uint16_t packet = 0;
gunarthon 42:b69538bba4f9 186 double input = 0;
gunarthon 42:b69538bba4f9 187 while(true)
gunarthon 42:b69538bba4f9 188 {
gunarthon 42:b69538bba4f9 189 //socket.sendto(host_address, host_port, (const void*)input, sizeof(input));
gunarthon 42:b69538bba4f9 190 //input += 1;
gunarthon 42:b69538bba4f9 191 socket.recvfrom(&socketAddress, &packet, sizeof(packet));
gunarthon 42:b69538bba4f9 192
gunarthon 42:b69538bba4f9 193 input = double(packet) / heightResolution;
gunarthon 42:b69538bba4f9 194 message_t *message = mpool.alloc();
gunarthon 42:b69538bba4f9 195 message->input = input;
gunarthon 42:b69538bba4f9 196 messageQueue.put(message);
gunarthon 42:b69538bba4f9 197 Thread::wait(300);
gunarthon 42:b69538bba4f9 198 }
gunarthon 42:b69538bba4f9 199 }
gunarthon 42:b69538bba4f9 200
gunarthon 42:b69538bba4f9 201 //------------------------------------------------------------------------------
gunarthon 38:b760c09b311c 202
gunarthon 40:19d51f6e6800 203 unsigned readButtons()
gunarthon 38:b760c09b311c 204 {
gunarthon 38:b760c09b311c 205 double buttonsValue = buttons.read();
gunarthon 38:b760c09b311c 206
gunarthon 38:b760c09b311c 207 unsigned button = btnNONE;
gunarthon 38:b760c09b311c 208 if(buttonsValue < 0.08) //0.000
gunarthon 38:b760c09b311c 209 button = btnRIGHT;
gunarthon 38:b760c09b311c 210 else if(buttonsValue < 0.28) //0.170
gunarthon 38:b760c09b311c 211 button = btnUP;
gunarthon 38:b760c09b311c 212 else if(buttonsValue < 0.51) //0.397
gunarthon 38:b760c09b311c 213 button = btnDOWN;
gunarthon 38:b760c09b311c 214 else if(buttonsValue < 0.78) //0.621
gunarthon 38:b760c09b311c 215 button = btnLEFT;
gunarthon 38:b760c09b311c 216 else if(buttonsValue < 0.97) //0.936
gunarthon 38:b760c09b311c 217 button = btnSELECT;
gunarthon 38:b760c09b311c 218 else //1.000
gunarthon 38:b760c09b311c 219 button = btnNONE;
gunarthon 38:b760c09b311c 220
gunarthon 40:19d51f6e6800 221 return button;
gunarthon 40:19d51f6e6800 222
gunarthon 40:19d51f6e6800 223 }
gunarthon 40:19d51f6e6800 224 //------------------------------------------------------------------------------
gunarthon 40:19d51f6e6800 225 //human-machine interface
gunarthon 40:19d51f6e6800 226 void hmiMethode(void)
gunarthon 40:19d51f6e6800 227 {
gunarthon 40:19d51f6e6800 228
gunarthon 40:19d51f6e6800 229 unsigned button = btnNONE;
gunarthon 41:3bc2a3885b9d 230 bool fastChange = false;
gunarthon 40:19d51f6e6800 231 while(true)
gunarthon 40:19d51f6e6800 232 {
gunarthon 38:b760c09b311c 233
gunarthon 41:3bc2a3885b9d 234 button = readButtons();
gunarthon 41:3bc2a3885b9d 235 while(button == btnNONE)
gunarthon 41:3bc2a3885b9d 236 {
gunarthon 40:19d51f6e6800 237 button = readButtons();
gunarthon 41:3bc2a3885b9d 238 Thread::wait(10);
gunarthon 41:3bc2a3885b9d 239 fastChange = false;
gunarthon 41:3bc2a3885b9d 240 }
gunarthon 40:19d51f6e6800 241
gunarthon 38:b760c09b311c 242 double prevSetPoint = pidController->getSetPoint();
gunarthon 38:b760c09b311c 243 double newSetPoint = prevSetPoint;
gunarthon 40:19d51f6e6800 244
gunarthon 40:19d51f6e6800 245 if(button == btnSELECT)
gunarthon 40:19d51f6e6800 246 {
gunarthon 40:19d51f6e6800 247 menu = (menu+1) % menuSIZE;
gunarthon 40:19d51f6e6800 248 simul = simulNONE;
gunarthon 40:19d51f6e6800 249 }
gunarthon 40:19d51f6e6800 250 else if(menu == menuSETPOINT)
gunarthon 40:19d51f6e6800 251 {
gunarthon 40:19d51f6e6800 252 if(button == btnUP)
gunarthon 41:3bc2a3885b9d 253 newSetPoint += fastChange ? configFastStep : configStep;
gunarthon 40:19d51f6e6800 254 else if(button == btnDOWN)
gunarthon 41:3bc2a3885b9d 255 newSetPoint -= fastChange ? configFastStep : configStep;
gunarthon 40:19d51f6e6800 256 else if(button == btnLEFT)
gunarthon 41:3bc2a3885b9d 257 newSetPoint -= fastChange ? 10*configFastStep : 10*configStep;
gunarthon 40:19d51f6e6800 258 else if(button == btnRIGHT)
gunarthon 41:3bc2a3885b9d 259 newSetPoint += fastChange ? 10*configFastStep : 10*configStep;
gunarthon 40:19d51f6e6800 260
gunarthon 40:19d51f6e6800 261 pidController->setSetPoint(newSetPoint);
gunarthon 40:19d51f6e6800 262 }
gunarthon 40:19d51f6e6800 263 else if(menu == menuPID)
gunarthon 40:19d51f6e6800 264 {
gunarthon 40:19d51f6e6800 265 if(button == btnUP)
gunarthon 40:19d51f6e6800 266 {
gunarthon 40:19d51f6e6800 267 if(parameter == parameterKP)
gunarthon 41:3bc2a3885b9d 268 pidController->addKp(fastChange ? configFastStep : configStep);
gunarthon 40:19d51f6e6800 269 else if(parameter == parameterKI)
gunarthon 41:3bc2a3885b9d 270 pidController->addKi(fastChange ? configFastStep : configStep);
gunarthon 40:19d51f6e6800 271 else if(parameter == parameterKD)
gunarthon 41:3bc2a3885b9d 272 pidController->addKd(fastChange ? configFastStep : configStep);
gunarthon 40:19d51f6e6800 273 }
gunarthon 40:19d51f6e6800 274 else if(button == btnDOWN)
gunarthon 40:19d51f6e6800 275 {
gunarthon 40:19d51f6e6800 276 if(parameter == parameterKP)
gunarthon 41:3bc2a3885b9d 277 pidController->addKp(fastChange ? -configFastStep : -configStep);
gunarthon 40:19d51f6e6800 278 else if(parameter == parameterKI)
gunarthon 41:3bc2a3885b9d 279 pidController->addKi(fastChange ? -configFastStep : -configStep);
gunarthon 40:19d51f6e6800 280 else if(parameter == parameterKD)
gunarthon 41:3bc2a3885b9d 281 pidController->addKd(fastChange ? -configFastStep : -configStep);
gunarthon 40:19d51f6e6800 282 }
gunarthon 40:19d51f6e6800 283 else if(button == btnLEFT)
gunarthon 40:19d51f6e6800 284 parameter = (parameter+1) % parameterSIZE;
gunarthon 40:19d51f6e6800 285 else if(button == btnRIGHT)
gunarthon 40:19d51f6e6800 286 pidController->setParameters(Kp, Ki, Kd);
gunarthon 40:19d51f6e6800 287 }
gunarthon 40:19d51f6e6800 288
gunarthon 40:19d51f6e6800 289 else if(menu == menuSIMULATE)
gunarthon 40:19d51f6e6800 290 {
gunarthon 40:19d51f6e6800 291 if(button == btnUP) //step
gunarthon 40:19d51f6e6800 292 {
gunarthon 40:19d51f6e6800 293 simul = simulSTEP;
gunarthon 40:19d51f6e6800 294 for(unsigned i = 0; i < cameraFPS * simulationSeconds; i++)
gunarthon 40:19d51f6e6800 295 {
gunarthon 40:19d51f6e6800 296 double input = i < cameraFPS * simulationSeconds / 2 ? 0 : 1;
gunarthon 40:19d51f6e6800 297 message_t *message = mpool.alloc();
gunarthon 40:19d51f6e6800 298 message->input = input;
gunarthon 40:19d51f6e6800 299 messageQueue.put(message);
gunarthon 40:19d51f6e6800 300
gunarthon 40:19d51f6e6800 301 Thread::wait(1000/cameraFPS);
gunarthon 40:19d51f6e6800 302 }
gunarthon 40:19d51f6e6800 303 simul = simulNONE;
gunarthon 40:19d51f6e6800 304 }
gunarthon 40:19d51f6e6800 305 else if(button == btnDOWN) //ramp
gunarthon 40:19d51f6e6800 306 {
gunarthon 40:19d51f6e6800 307 simul = simulRAMP;
gunarthon 40:19d51f6e6800 308 for(unsigned i = 0; i < cameraFPS * simulationSeconds; i++)
gunarthon 40:19d51f6e6800 309 {
gunarthon 40:19d51f6e6800 310 double input = double(i) / ((cameraFPS * simulationSeconds)-1);
gunarthon 40:19d51f6e6800 311 message_t *message = mpool.alloc();
gunarthon 40:19d51f6e6800 312 message->input = input;
gunarthon 40:19d51f6e6800 313 messageQueue.put(message);
gunarthon 40:19d51f6e6800 314
gunarthon 40:19d51f6e6800 315 Thread::wait(1000/cameraFPS);
gunarthon 40:19d51f6e6800 316 }
gunarthon 40:19d51f6e6800 317 simul = simulNONE;
gunarthon 40:19d51f6e6800 318 }
gunarthon 41:3bc2a3885b9d 319 else if(button == btnLEFT)
gunarthon 41:3bc2a3885b9d 320 setPointSimul = true;
gunarthon 40:19d51f6e6800 321 else if(button == btnRIGHT)
gunarthon 41:3bc2a3885b9d 322 setPointSimul = false;
gunarthon 38:b760c09b311c 323
gunarthon 40:19d51f6e6800 324 }
gunarthon 41:3bc2a3885b9d 325 unsigned repeatCount = 0;
gunarthon 41:3bc2a3885b9d 326 while(button != btnNONE && !fastChange)
gunarthon 40:19d51f6e6800 327 {
gunarthon 41:3bc2a3885b9d 328 repeatCount++;
gunarthon 40:19d51f6e6800 329 button = readButtons();
gunarthon 40:19d51f6e6800 330 Thread::wait(10);
gunarthon 41:3bc2a3885b9d 331 if(repeatCount > 50)
gunarthon 41:3bc2a3885b9d 332 fastChange = true;
gunarthon 41:3bc2a3885b9d 333 }
gunarthon 38:b760c09b311c 334 Thread::wait(100);
gunarthon 38:b760c09b311c 335 }
gunarthon 38:b760c09b311c 336 }
gunarthon 38:b760c09b311c 337
gunarthon 38:b760c09b311c 338 //=============================Main Thread======================================
gunarthon 38:b760c09b311c 339 // main() runs in its own thread in the OS
gunarthon 38:b760c09b311c 340
gunarthon 38:b760c09b311c 341 int main() {
gunarthon 38:b760c09b311c 342
gunarthon 38:b760c09b311c 343 //led1.period(4.0f); // 4 second period
gunarthon 38:b760c09b311c 344
gunarthon 38:b760c09b311c 345 lcd.cls();
gunarthon 38:b760c09b311c 346 lcd.printf("HELLO");
gunarthon 38:b760c09b311c 347
gunarthon 42:b69538bba4f9 348 Thread::wait(2000);
gunarthon 42:b69538bba4f9 349 if(readButtons() == btnDOWN)
gunarthon 42:b69538bba4f9 350 useUDP = true;
gunarthon 42:b69538bba4f9 351
gunarthon 42:b69538bba4f9 352 if(useUDP)
gunarthon 42:b69538bba4f9 353 {
gunarthon 42:b69538bba4f9 354 lcd.cls();
gunarthon 42:b69538bba4f9 355 lcd.printf("Connecting...");
gunarthon 42:b69538bba4f9 356 net.connect();
gunarthon 42:b69538bba4f9 357
gunarthon 42:b69538bba4f9 358 // Show the network address
gunarthon 42:b69538bba4f9 359 const char *ip = net.get_ip_address();
gunarthon 42:b69538bba4f9 360 lcd.cls();
gunarthon 42:b69538bba4f9 361 lcd.printf("%s", ip ? ip : "No IP");
gunarthon 42:b69538bba4f9 362 if(!ip)
gunarthon 42:b69538bba4f9 363 while(1); //terminate program
gunarthon 42:b69538bba4f9 364
gunarthon 42:b69538bba4f9 365 Thread::wait(5000);
gunarthon 42:b69538bba4f9 366 udpThread.start(UdpMethode);
gunarthon 42:b69538bba4f9 367 }
gunarthon 42:b69538bba4f9 368 else
gunarthon 42:b69538bba4f9 369 serialThread.start(SerialMethode);
gunarthon 42:b69538bba4f9 370
gunarthon 38:b760c09b311c 371 pidController = new Pid(Kp, Ki, Kd);
gunarthon 38:b760c09b311c 372 pidController->setSetPoint(setPoint);
gunarthon 38:b760c09b311c 373
gunarthon 41:3bc2a3885b9d 374 lcdThread.start(LcdMethode);
gunarthon 38:b760c09b311c 375 pidThread.start(PidMethode);
gunarthon 38:b760c09b311c 376 hmiThread.start(hmiMethode);
gunarthon 41:3bc2a3885b9d 377 setPointThread.start(setPointMethode);
gunarthon 38:b760c09b311c 378
gunarthon 38:b760c09b311c 379 while (true) {
gunarthon 38:b760c09b311c 380 Thread::wait(1100);
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