Revision 6:7123768ea0c9, committed 2017-05-04

Comitter:

CRaslawski

Date:

Thu May 04 23:54:17 2017 +0000

Parent:

5:ab5fd9a37d7a

Commit message:

Found out some of the pc prints over serial were causing the C# app to freeze. After disabling them all the app works fine. Currently only sends chars to the app over BT. Any chars the app sends to the robot over BT are echoed to the pc serial port

Changed in this revision

diff -r ab5fd9a37d7a -r 7123768ea0c9 main.cpp
--- a/main.cpp	Thu May 04 20:23:10 2017 +0000
+++ b/main.cpp	Thu May 04 23:54:17 2017 +0000
@@ -31,9 +31,6 @@
 // Speaker out
 //AnalogOut DACout(p18);      //must(?) be p18
 //SDFileSystem sd(p5, p6, p7, p8, "sd"); //SD card
-ultrasonic mu(p29, p30, .1, 1);    //Set the trigger pin to D8 (p29) and the echo pin to D9 (p30)
-                                        //have updates every .1 seconds and a timeout after 1
-                                        //second, and call dist when the distance changes
 
 Thread thread1;
 //Thread thread2;
@@ -49,6 +46,18 @@
 //float origHeading;
 //float heading;
 
+void dist(int distance)
+{
+    //put code here to execute when the distance has changed
+    if(distance*0.00328084 < 40) {
+    //printf("Distance %f ft\r\n", distance*0.00328084);
+    }
+}
+
+ultrasonic mu(p29, p30, .1, 1, &dist);    //Set the trigger pin to D8 and the echo pin to D9
+                                        //have updates every .1 seconds and a timeout after 1
+                                        //second, and call dist when the distance changes
+
 // Calculate pitch, roll, and heading.
 // Pitch/roll calculations taken from this app note:
 // http://cache.freescale.com/files/sensors/doc/app_note/AN3461.pdf?fpsp=1
@@ -194,11 +203,11 @@
     bool objOnRight = true;
     while(objOnRight) {
         mutex.lock();
-        dev.printf("Avoiding Obstacles...\n\r");
+        //pc.printf("Avoiding Obstacles...\n\r");
         //currIR1 = IR1; //must keep scanning IR readers to know when object is cleared
         sonar = mu.getCurrentDistance()*0.00328084;
         currIR2 = IR2;
-        dev.printf("    IR1 Reading         IR2 Reading\n\r         %f          %f\n\r", sonar, currIR2);
+        //pc.printf("    IR1 Reading         IR2 Reading\n\r         %f          %f\n\r", sonar, currIR2);
         mutex.unlock();
         if(currIR2 < 0.7) {
             objOnRight = false;   //if IR2 drops below threshold, obstacle passed. Break out of loop
@@ -311,6 +320,7 @@
     //bluetooth setup
     pc.baud(9600);
     dev.baud(9600);
+
     mu.startUpdates();//start measuring the distance from Sonar
     //wait to recv start command or time delay
     for(int i=0; i<3; i++) {        //temp delay for a few sec
@@ -345,12 +355,13 @@
             //update current IR readings
             //mutex.lock();//IR readings included in mutex since they are shared global variables
             //currIR1 = IR1; //replaced with sonar
+            mu.checkDistance();
             sonar = mu.getCurrentDistance()*0.00328084;
             currIR2 = IR2;
             mutex.lock();         //prevent race conditions in BT dataoutput //changed from BTmutex
-            dev.puts("      Front IR reading    Right IR reading\n\r");     // print IR readings over BT
+            //pc.puts("      Front Sonar reading    Right IR reading\n\r");     // print IR readings over BT
             //dev.printf("        %2f             %2f\n\r", currIR1, currIR2);
-            dev.printf("        %2f             %2f\n\r", sonar, currIR2); //changed
+            //pc.printf("        %2f             %2f\n\r", sonar, currIR2); //changed
             //pc.puts("      Front IR reading    Right IR reading\n\r");     // print IR readings over serial
             //pc.printf("        %2f             %2f\n\r", currIR1, currIR2);
             mutex.unlock(); // changed from BTmutex
@@ -369,6 +380,7 @@
             if (dev.readable()) {
                 mutex.lock();
                 temp = dev.getc();
+                pc.putc(temp);
                 mutex.unlock();
             }
             if(temp == 'M') {
@@ -394,6 +406,7 @@
             if (dev.readable()){
                 mutex.lock();
                 temp = dev.getc();
+                pc.putc(temp);
                 mutex.unlock();
             }
             if(temp == 'A') { // reset command