James Plager / Mbed 2 deprecated Roomba_Project

Robot that currently does nothing

Dependencies:   4DGL-uLCD-SE SDFileSystem ShiftBrite mbed-rtos mbed wave_player Motor

main.cpp@5:6ca141fc6c4e, 2017-03-15 (annotated)

Committer:
CRaslawski
Date:
Wed Mar 15 05:45:22 2017 +0000
Revision:
5:6ca141fc6c4e
Parent:
4:589e4a2028a7
Child:
6:21c5a7cf63de
added IR input -> mbed LED output

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jplager3 0:ada50658d850 1 #include "mbed.h"
jplager3 0:ada50658d850 2 #include "rtos.h"
jplager3 0:ada50658d850 3 #include "uLCD_4DGL.h"
jplager3 0:ada50658d850 4 //#include "ShiftBrite.h"
jplager3 0:ada50658d850 5 #include "SDFileSystem.h"
jplager3 0:ada50658d850 6 #include "wave_player.h"
jplager3 0:ada50658d850 7
jplager3 0:ada50658d850 8 Mutex mutex; //
jplager3 0:ada50658d850 9 Mutex mutex2; //
jplager3 0:ada50658d850 10 DigitalOut led1(LED1);
jplager3 0:ada50658d850 11 DigitalOut led2(LED2);
jplager3 0:ada50658d850 12 DigitalOut led3(LED3);
jplager3 0:ada50658d850 13 DigitalOut led4(LED4);
jplager3 0:ada50658d850 14 Thread thread1;
jplager3 0:ada50658d850 15 Thread thread2;
jplager3 0:ada50658d850 16 Thread thread3;
jplager3 0:ada50658d850 17 Thread thread4;
jplager3 0:ada50658d850 18 //DigitalOut latch(p15);
jplager3 0:ada50658d850 19 //DigitalOut enable(p16);
jplager3 0:ada50658d850 20 SPI spi(p11, p12, p13);
jplager3 0:ada50658d850 21 //uLCD_4DGL uLCD(p28,p27,p29); //(p27, p28, p30); //tx, rx, rst
jplager3 0:ada50658d850 22 uLCD_4DGL uLCD(p28, p27, p30);
jplager3 0:ada50658d850 23 //ShiftBrite myBrite(p15,p16,spi); //latch, enable, spi
jplager3 0:ada50658d850 24 SDFileSystem sd(p5, p6, p7, p8, "sd"); //SD card
jplager3 0:ada50658d850 25 AnalogOut DACout(p18); //must be p18
CRaslawski 5:6ca141fc6c4e 26 AnalogIn IR(p20);
jplager3 0:ada50658d850 27 //RawSerial BT(p9, p10); //bluetooth pinout
jplager3 0:ada50658d850 28 FILE *wave_file = NULL; //global bc its gotta be changed by Main while running in child thread
jplager3 0:ada50658d850 29 wave_player waver(&DACout); //create wave_player object for speaker
jplager3 0:ada50658d850 30
jplager3 0:ada50658d850 31 void LCD_thread1() {
jplager3 0:ada50658d850 32 while(1){
jplager3 0:ada50658d850 33 mutex.lock();
jplager3 0:ada50658d850 34 uLCD.filled_circle(64, 64, 12, 0xFF0000);
jplager3 0:ada50658d850 35 mutex.unlock();
jplager3 0:ada50658d850 36 wait(.5);
jplager3 0:ada50658d850 37 mutex.lock();
jplager3 0:ada50658d850 38 uLCD.filled_circle(64, 64, 12, 0x0000FF);
jplager3 0:ada50658d850 39 mutex.unlock();
jplager3 0:ada50658d850 40 wait(.5);
jplager3 0:ada50658d850 41 }
jplager3 0:ada50658d850 42 }
jplager3 0:ada50658d850 43 void sound_thread(){
CRaslawski 4:589e4a2028a7 44 while(1) {
CRaslawski 4:589e4a2028a7 45 //FILE *wave_file;
CRaslawski 4:589e4a2028a7 46 wave_file=fopen("/sd/vacuum.wav","r");
CRaslawski 4:589e4a2028a7 47 if (wave_file == NULL){
CRaslawski 4:589e4a2028a7 48 led1=led2=led3=led4 = 1; // if file read error, all LEDs ON
CRaslawski 4:589e4a2028a7 49 }
CRaslawski 4:589e4a2028a7 50 waver.play(wave_file);
CRaslawski 4:589e4a2028a7 51 fclose(wave_file);
jplager3 0:ada50658d850 52 }
jplager3 0:ada50658d850 53 }
CRaslawski 5:6ca141fc6c4e 54
jplager3 0:ada50658d850 55 int main() {
jplager3 0:ada50658d850 56 //thread1.start(IR_thread); // read in IR data
jplager3 0:ada50658d850 57 thread2.start(LCD_thread1);
jplager3 0:ada50658d850 58 //thread3.start(Motor_thread);
jplager3 0:ada50658d850 59 thread4.start(sound_thread);
jplager3 0:ada50658d850 60
CRaslawski 5:6ca141fc6c4e 61 while(1){
CRaslawski 5:6ca141fc6c4e 62 //IR testing
CRaslawski 5:6ca141fc6c4e 63 if(IR>0.3 && IR<0.5) {
CRaslawski 5:6ca141fc6c4e 64 led1=1;
CRaslawski 5:6ca141fc6c4e 65 led2=led3=led4=0;
CRaslawski 5:6ca141fc6c4e 66 } else if (IR>0.5 && IR< 0.7) {
CRaslawski 5:6ca141fc6c4e 67 led1=led2=1;
CRaslawski 5:6ca141fc6c4e 68 led3=led4=0;
CRaslawski 5:6ca141fc6c4e 69 } else if (IR>0.7 && IR<0.9) {
CRaslawski 5:6ca141fc6c4e 70 led1=led2=led3=1;
CRaslawski 5:6ca141fc6c4e 71 led4=0;
CRaslawski 5:6ca141fc6c4e 72 } else if (IR>0.95) { //collision threshold seems to be the same from IR=0.8 to IR=0.95
CRaslawski 5:6ca141fc6c4e 73 led1=led2=led3=led4=1;
CRaslawski 5:6ca141fc6c4e 74 } else led1=led2=led3=led4=0;
jplager3 0:ada50658d850 75 }
jplager3 0:ada50658d850 76 // use mutex to lock getc(), printf(), scanf()
jplager3 0:ada50658d850 77 // don't unlock until you've checked that it's readable()
jplager3 0:ada50658d850 78 }