Ian Krase / Mbed 2 deprecated NeoQuadrapod

New quadrupod variant

Dependencies:   ArthropodIK MMA8451Q MODSERIAL TSI TextLCD mbed-rtos mbed

Fork of Quadrapod by Ian Krase

main.cpp@11:2cf1f6ff9656, 2015-07-07 (annotated)

Committer:
ikrase
Date:
Tue Jul 07 07:07:20 2015 +0000
Revision:
11:2cf1f6ff9656
Parent:
10:11176c9c42fc 
New version with more money / time like I planned in the first place.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ikrase 0:838403674a8f 1 #include "mbed.h"
ikrase 0:838403674a8f 2 #include "rtos.h"
ikrase 0:838403674a8f 3 #include "MODSERIAL.h"
ikrase 7:68e488d28f67 4 #include <vector>
ikrase 10:11176c9c42fc 5 #include "mbed_rpc.h"
ikrase 0:838403674a8f 6
ikrase 0:838403674a8f 7 #include "quadrapod_defs.h" //Includes pins and stuff
ikrase 2:1f7ee9f3276b 8 #include "ArthropodIK.h" // IK solver based on Oscar Liang.
ikrase 11:2cf1f6ff9656 9 //#include "PolyServo.h"
ikrase 0:838403674a8f 10
ikrase 0:838403674a8f 11 /**************************************************************************
ikrase 0:838403674a8f 12 This is the Quadrupod control software.
ikrase 0:838403674a8f 13 ***************************************************************************/
ikrase 0:838403674a8f 14
ikrase 0:838403674a8f 15
ikrase 10:11176c9c42fc 16 MODSERIAL pc(USBTX, USBRX);
ikrase 0:838403674a8f 17
ikrase 0:838403674a8f 18 DigitalOut led_green(LED_GREEN);
ikrase 0:838403674a8f 19 DigitalOut led_red(LED_RED);
ikrase 10:11176c9c42fc 20 DigitalOut led_blue(LED_BLUE);
ikrase 10:11176c9c42fc 21
ikrase 10:11176c9c42fc 22 PwmOut LCD_red(LED_BL_RED);
ikrase 10:11176c9c42fc 23 PwmOut LCD_grn(LED_BL_GRN);
ikrase 10:11176c9c42fc 24 PwmOut LCD_blu(LED_BL_BLU);
ikrase 10:11176c9c42fc 25
ikrase 10:11176c9c42fc 26 float red_intensity, green_intensity, blue_intensity;
ikrase 0:838403674a8f 27
ikrase 11:2cf1f6ff9656 28
ikrase 3:9916f013d978 29
ikrase 7:68e488d28f67 30 std::vector<DigitalOut * > digivec;
ikrase 7:68e488d28f67 31
ikrase 0:838403674a8f 32 void led_fade_thread(void const *args) {
ikrase 0:838403674a8f 33 // Note that this function doesn't terminate, which is fine since it runs in
ikrase 0:838403674a8f 34 // a thread.
ikrase 0:838403674a8f 35 while (1) {
ikrase 0:838403674a8f 36 // Since the internal LED is active low, inert the duty cycle.
ikrase 0:838403674a8f 37 led_blue.write(1 - 0);
ikrase 0:838403674a8f 38 Thread::wait(250);
ikrase 0:838403674a8f 39 led_blue.write(1 - 0.25);
ikrase 0:838403674a8f 40 Thread::wait(250);
ikrase 0:838403674a8f 41 led_blue.write(1 - 0.5);
ikrase 0:838403674a8f 42 Thread::wait(250);
ikrase 0:838403674a8f 43 led_blue.write(1 - 0.75);
ikrase 0:838403674a8f 44 Thread::wait(250);
ikrase 7:68e488d28f67 45
ikrase 0:838403674a8f 46 }
ikrase 0:838403674a8f 47 }
ikrase 0:838403674a8f 48
ikrase 0:838403674a8f 49 void led_blink_periodic(void const *args) {
ikrase 0:838403674a8f 50 // Toggle the red LED when this function is called.
ikrase 0:838403674a8f 51 led_red = !led_red;
ikrase 0:838403674a8f 52 }
ikrase 0:838403674a8f 53
ikrase 0:838403674a8f 54 int main() {
ikrase 0:838403674a8f 55 // It's always nice to know what version is deployed.
ikrase 10:11176c9c42fc 56 //serial.printf("Built " __DATE__ " " __TIME__ "\r\n");
ikrase 0:838403674a8f 57
ikrase 0:838403674a8f 58 // Quick blink on startup.
ikrase 0:838403674a8f 59 led_green = 0; // Note that the internal LED is active low.
ikrase 0:838403674a8f 60 wait(0.25);
ikrase 0:838403674a8f 61 led_green = 1;
ikrase 0:838403674a8f 62 wait(0.25);
ikrase 0:838403674a8f 63
ikrase 0:838403674a8f 64 // Mandatory "Hello, world!".
ikrase 0:838403674a8f 65 serial.printf("Hello, world!\r\n");
ikrase 0:838403674a8f 66
ikrase 0:838403674a8f 67 // Start a thread running led_fade_thread().
ikrase 0:838403674a8f 68 Thread ledFadeThread(led_fade_thread);
ikrase 0:838403674a8f 69
ikrase 0:838403674a8f 70 // Set a timer to periodically call led_blink_periodic().
ikrase 0:838403674a8f 71 RtosTimer ledBlinkTimer(led_blink_periodic);
ikrase 0:838403674a8f 72 ledBlinkTimer.start(1000);
ikrase 10:11176c9c42fc 73 char buf[256], outbuf[256];
ikrase 0:838403674a8f 74
ikrase 0:838403674a8f 75 // Work is done in the threads, so main() can sleep.
ikrase 11:2cf1f6ff9656 76
ikrase 10:11176c9c42fc 77
ikrase 10:11176c9c42fc 78
ikrase 0:838403674a8f 79 Thread::wait(osWaitForever);
ikrase 0:838403674a8f 80 }