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@7:68e488d28f67, 2015-06-26 (annotated)

Committer:
ikrase
Date:
Fri Jun 26 08:10:33 2015 +0000
Revision:
7:68e488d28f67
Parent:
3:9916f013d978
Child:
10:11176c9c42fc
Work on PolyServo

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