Revision 6:21c5a7cf63de, committed 2017-03-15

Comitter:

CRaslawski

Date:

Wed Mar 15 07:09:20 2017 +0000

Parent:

5:6ca141fc6c4e

Child:

7:df218a6a1a01

Commit message:

added beep thread, if IR sensor detects prox vacuum thread is terminated and beeping thread begins. Runs for 5 seconds as a placeholder for Roomba backing up and turning, then resumes vacuuming

Changed in this revision

--- a/main.cpp	Wed Mar 15 05:45:22 2017 +0000
+++ b/main.cpp	Wed Mar 15 07:09:20 2017 +0000
@@ -26,6 +26,7 @@
 AnalogIn IR(p20);
 //RawSerial BT(p9, p10);  //bluetooth pinout
 FILE *wave_file = NULL;         //global bc its gotta be changed by Main while running in child thread
+FILE *wave_file2 = NULL;
 wave_player waver(&DACout);     //create wave_player object for speaker
 
 void LCD_thread1() {
@@ -45,13 +46,24 @@
         //FILE *wave_file;
         wave_file=fopen("/sd/vacuum.wav","r");    
         if (wave_file == NULL){
-               led1=led2=led3=led4 = 1;     // if file read error, all LEDs ON
+               led1=led4 = 1; // if file read error, outside LEDs are on
+               led2=led3 = 0;
         }
         waver.play(wave_file);
         fclose(wave_file);  
     }
 }
 
+void beep(){
+    wave_file2=fopen("/sd/beep.wav","r");
+    if(wave_file2 == NULL) {
+        led1=led4 = 0; // if file read error, inside LEDs are on
+        led2=led3 = 0;
+    }
+    waver.play(wave_file2);
+    fclose(wave_file2);  
+}
+
 int main() {
     //thread1.start(IR_thread); // read in IR data
     thread2.start(LCD_thread1);   
@@ -69,8 +81,21 @@
         } else if (IR>0.7 && IR<0.9) {
             led1=led2=led3=1;
             led4=0;
-        } else if (IR>0.95) { //collision threshold seems to be the same from IR=0.8 to IR=0.95
-            led1=led2=led3=led4=1;    
+        } else if(IR>0.9){ //collision threshold seems to be the same from IR=0.8 to IR=0.95
+            led1=led2=led3=led4=1; 
+            fclose(wave_file);
+            thread4.terminate();
+            thread4.start(beep);
+            /* reverse motors and turn Roomba here
+             *
+             *
+             *
+             *
+             */
+            wait(5); //wait for beeping to finish
+            fclose(wave_file2);
+            thread4.terminate();
+            thread4.start(sound_thread);
         } else led1=led2=led3=led4=0;
     }
     // use mutex to lock getc(), printf(), scanf()