Diff: main.cpp

Revision:

0:f2f38faf17d9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Dec 10 02:06:51 2019 +0000
@@ -0,0 +1,240 @@
+#include "mbed.h"
+#include "motordriver.h"
+#include "rtos.h"
+#include "stdio.h"
+#include "SDFileSystem.h"
+#include "wave_player.h"
+
+volatile bool alarm = false;
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+RawSerial pi(USBTX, USBRX);
+      
+Motor wingL(p22, p9, p10, 1); // pwm, fwd, rev
+Motor wingR(p21, p12, p11, 1);//wings move in opposite directions
+//reverse one motor's leads when wiring
+Motor wheelL(p24, p14, p13, 1);
+Motor wheelR(p25, p16, p15, 1);//wheels move in the same direction
+PwmOut led1(p23);
+PwmOut led2(p26);
+
+SDFileSystem sd(p5, p6, p7, p8, "sd");
+AnalogOut DACout(p18);
+wave_player waver(&DACout);
+Mutex spk_mutex;
+Mutex servo_mutex;
+Mutex wing_mutex;
+Mutex alrm_mutex;
+Thread t2;
+Thread t3;
+Thread t4;
+Thread t5;
+
+InterruptIn interrupt(p27);
+bool getAlarm() {
+    return alarm;
+}
+void changeAlarm()
+{
+    while(true)
+    {
+        alarm = !alarm;
+    }
+}
+
+void flapWings()
+{
+    bool flag;
+    while(true) 
+    {   
+        flag = getAlarm();
+        if(flag)
+        {
+            for (float s= -1.0; s < 0.0 ; s += 0.001)
+            {
+                wingL.speed(s);
+                wingR.speed(s);
+                wait(0.001);
+            }
+            for (float s= 1.0; s > 0.0 ; s -= 0.001)
+            {
+                wingL.speed(s);
+                wingR.speed(s);
+                wait(0.001);
+            }
+        }
+        Thread::wait(100);//frequency of cycles of wing movemnets
+    }
+}
+
+void playSound()
+{
+    FILE *wave_file;
+    bool flag;
+    while(true) 
+    {   
+    flag = getAlarm();
+        if(flag)
+        {
+            led4 = 1;
+            spk_mutex.lock();
+            wave_file=fopen("/sd/sound01.wav","r");
+            spk_mutex.unlock();
+            
+            waver.play(wave_file);
+            
+            spk_mutex.lock();
+            fclose(wave_file);
+            spk_mutex.unlock();
+        }
+        else if(!flag)
+        {
+            led4 = 0;
+            DACout=0;
+        }
+        Thread::wait(500); 
+    }
+}
+
+void stopAllOutputDevices() {
+    wingL.stop(.5);
+    wingR.stop(.5);
+    wheelL.stop(.5);
+    wheelR.stop(.5);
+    led1=0;
+    led2=0;
+    
+}
+
+int readPiChar() {
+    char temp;
+    temp = pi.getc();
+            
+    led3 = !led3;
+    alrm_mutex.lock();
+    if(temp == '1') { 
+        alarm = 1;
+        led4 = 1;
+        
+        led1 = 1;
+        led2= 1;
+        return 1;
+                
+                // pi communicates directly to led4 via usb cable...
+                // can pi also output to a pin?       
+
+    }
+    if(temp == '0') {
+        alarm = 0;
+        led1 = 0;
+        led2= 0;
+        led4 = 0;
+        return 0;
+    }
+    alrm_mutex.unlock();
+}
+
+void testLED()
+{
+     while(true) 
+    {
+        if(readPiChar())
+        {
+            led1 = 1;
+            led2= 1;
+        }
+        else
+        {
+        }
+        Thread::wait(500);
+    }
+}
+
+void dev_recv()
+{
+    char temp = 0;
+    while(true)
+    {
+        while(pi.readable())
+        {
+            
+            //pi.putc(1);
+            temp = pi.getc();
+            
+            led3 = !led3;
+            alrm_mutex.lock();
+            if(temp == '1') { 
+                alarm = 1;
+                led4 = 1;
+                //flapWings();
+                //moveWheels();
+                // pi communicates directly to led4 via usb cable...
+                // can pi also output to a pin?       
+
+            }
+            if(temp == '0') {
+                alarm = 0;
+                led4 = 0;
+                stopAllOutputDevices();
+            }
+            alrm_mutex.unlock();
+        }
+    Thread::wait(1000);
+    }
+}
+void moveWheels()
+{
+    while(true)
+    {
+        if(readPiChar())
+        {
+            for (float i= -1.0; i < -0.9 ; i += 0.05)
+            {
+                wheelL.speed(i);
+                wheelR.speed(i);
+                wait(1);
+            }
+            wheelL.stop(0.5);
+            wheelR.stop(0.5);
+            for (float j= 1.0; j > 0.9 ; j -= 0.05)
+            {
+                wheelL.speed(j);
+                wheelR.speed(j);
+                wait(1);
+            }
+            wheelL.stop(0.5);
+            wheelR.stop(0.5);
+        }
+    Thread::wait(200);//frequency of cycles of wing movemnets
+    }
+}
+
+void setAlarm() {
+    alarm = 1;
+    // set led and sound
+    
+}
+void clearAlarm() {
+    alarm = 0;
+    
+
+    }
+int main() 
+{
+    pi.baud(9600);
+    //pi.attach(&piDetectInvader, Serial::RxIrq);
+    //pi.attach(&dev_recv, Serial::RxIrq);
+    //t2.start(testLED);
+    //t1.start(changeAlarm);
+    t3.start(flapWings);
+    t4.start(moveWheels);
+    //t5.start(playSound);
+    //may not even need threads......
+    interrupt.rise(&setAlarm);
+    interrupt.fall(&clearAlarm);
+    while(pi.readable()) 
+    {       // main is the next thread
+        Thread::wait(1000); // wait 2 seconds. Acknowledge pi that mbed is ready
+    } 
+}