Revision 12:7a9903be8988, committed 2018-04-19

Comitter:

jmendoza33

Date:

Thu Apr 19 17:51:35 2018 +0000

Parent:

11:0309bef74ba8

Commit message:

TEST

Changed in this revision

diff -r 0309bef74ba8 -r 7a9903be8988 HC_SR04_Ultrasonic_Library.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HC_SR04_Ultrasonic_Library.lib	Thu Apr 19 17:51:35 2018 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/ejteb/code/HC_SR04_Ultrasonic_Library/#e0f9c9fb4cf3

diff -r 0309bef74ba8 -r 7a9903be8988 Servo.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.lib	Thu Apr 19 17:51:35 2018 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/simon/code/Servo/#36b69a7ced07

diff -r 0309bef74ba8 -r 7a9903be8988 main.cpp
--- a/main.cpp	Wed Feb 15 14:04:02 2017 -0600
+++ b/main.cpp	Thu Apr 19 17:51:35 2018 +0000
@@ -1,22 +1,138 @@
 #include "mbed.h"
+#include "Servo.h"
 #include "rtos.h"
- 
-DigitalOut led1(LED1);
-DigitalOut led2(LED2);
-Thread thread;
- 
-void led2_thread() {
-    while (true) {
-        led2 = !led2;
-        Thread::wait(1000);
+#include "ultrasonic.h"
+
+
+/// Objects 
+DigitalOut led1(LED1); // Used For testsing
+DigitalOut led2(LED2); // Used For tesitng 
+Serial blue(p28,p27); // Bluetooh
+Servo myservo(p21); // Motor 
+Serial pc(USBTX,USBRX); // PC
+Thread t1;
+Thread t2;
+Thread t3;
+
+Mutex off;
+bool close=false;  
+
+void bluetooth(){
+char bnum = 0;
+while(1) {
+  //     off.lock();
+  Thread::wait(50);
+        if (blue.getc() == '!') {
+            if (blue.getc()=='B') {
+                bnum = blue.getc();
+                pc.printf("%s",bnum);
+                // Up Arrow
+                
+                if ((bnum == '5') && (myservo <= 1.0)) {
+                    myservo = myservo + 0.05;
+                     pc.printf("\n Servo up\n ");
+                    
+                }
+
+                // Down Arrow
+                else if ((bnum == '6') && (myservo >= 0.54)) {
+                    myservo = myservo - 0.05;
+                    pc.printf("\n Servo down\n ");
+                }
+
+                // Left Arrow
+
+                else if (bnum == '7') {
+                   myservo=0.00;
+                   pc.printf("\n brake \n ");
+                   
+                   /* while (myservo > 0.0) {
+                        if (myservo < 0.05)
+                            myservo = 0.0;
+                        else
+                            myservo = myservo - 0.05; // Brake
+                             pc.printf("brekae");
+                    }  */
+
+                }
+
+                // Right Arrow
+
+                else if (bnum == '8') {
+                    //servo.lock();
+                    myservo = 0.5; // Neutral
+                    pc.printf("\n netrual");
+                    //servo.unlock();
+
+                }
+            }
+        }
+//                        off.unlock();
     }
+
+   
+    }// ends bluetooh
+
+
+
+ void dist(int distance)
+{
+    //put code here to execute when the distance has changed
+    pc.printf("Distance %d mm\r\n", distance);
+    if(distance<300){
+        close=true;
+     
+        }
 }
  
-int main() {
-    thread.start(led2_thread);
+ultrasonic mu(p6, p7, .1, 1, &dist);
+
+void stop(){
     
-    while (true) {
-        led1 = !led1;
-        Thread::wait(500);
-    }
-}
+pc.printf("\n STOP MOTOR");
+//off.lock();   
+myservo=0.0;        
+Thread::wait(2000);
+//off.unlock();
+
+   
+}//ends stop
+
+
+
+int main() {
+
+
+    myservo = 0.0;
+    wait(0.5); //detects signal
+//Required ESC Calibration/Arming sequence  
+//sends longest and shortest PWM pulse to learn and arm at power on
+    myservo = 1.0; //send longest PWM
+    wait(5);
+    myservo = 0.0; //send shortest PWM
+    wait(5);
+//ESC now operational using standard servo PWM signals
+    myservo = 0.5;
+    wait(2);
+
+pc.printf("\n SETUP \n ");
+t1.start(bluetooth);
+t2.start(stop);
+
+mu.startUpdates();
+  while (true) {
+  
+  if(close){
+        pc.printf("\n Thread realsed \n ");
+        t2.start(stop);
+        Thread::wait(1000);
+        close=false;
+        
+        }
+   mu.checkDistance(); 
+    
+    }//ends While 
+
+}// ends Main
+
+