Junjie Wang / Mbed OS a_NYP_humanoid_copy

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Dependencies:   LSM6DSL

Fork of b_NYP_humanoid by Junjie Wang

main.cpp@5:1faeeab28bd1, 2018-06-05 (annotated)

Committer:
mr_wang
Date:
Tue Jun 05 09:34:33 2018 +0000
Revision:
5:1faeeab28bd1
Parent:
4:99891561a38b 
NYP!!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mr_wang 0:0ea84b3cf851 1 #include "mbed.h"
mr_wang 3:1345f959c490 2 #include "servo.h"
mr_wang 0:0ea84b3cf851 3 #include "accgyro.h"
mr_wang 4:99891561a38b 4 #include "behaviour.h"
mr_wang 4:99891561a38b 5 #include "kondo2.h"
mr_wang 3:1345f959c490 6 Thread ACCGYRO_thread;
mr_wang 3:1345f959c490 7 Thread SERVO_thread;
mr_wang 4:99891561a38b 8 Thread BEHAVIOUR_thread;
mr_wang 3:1345f959c490 9 EventQueue event_queue;
mr_wang 4:99891561a38b 10 Thread KONDO1_thread;
mr_wang 4:99891561a38b 11 Thread KONDO2_thread;
mr_wang 4:99891561a38b 12 Thread KONDO3_thread;
mr_wang 4:99891561a38b 13 Thread KONDO1_Degrees_Set_thread;
mr_wang 4:99891561a38b 14 Thread KONDO2_Degrees_Set_thread;
mr_wang 5:1faeeab28bd1 15 Thread KONDO3_Degrees_Set_thread;
mr_wang 0:0ea84b3cf851 16 int main()
ha731548874 2:7d574b1ab3cd 17 {
mr_wang 4:99891561a38b 18 KONDO1_thread.start(KONDO1_init);
mr_wang 4:99891561a38b 19 KONDO2_thread.start(KONDO2_init);
mr_wang 4:99891561a38b 20 KONDO3_thread.start(KONDO3_init);
mr_wang 4:99891561a38b 21 KONDO1_Degrees_Set_thread.start(KONDO1_Degrees_Set);
mr_wang 4:99891561a38b 22 KONDO2_Degrees_Set_thread.start(KONDO2_Degrees_Set);
mr_wang 4:99891561a38b 23 KONDO3_Degrees_Set_thread.start(KONDO3_Degrees_Set);
mr_wang 3:1345f959c490 24 ACCGYRO_thread.start(ACCGYRO_init);
mr_wang 4:99891561a38b 25 BEHAVIOUR_thread.start(BEHAVIOUR_init);
mr_wang 3:1345f959c490 26 //SERVO_init();
mr_wang 3:1345f959c490 27 //event_thread.start(callback(&event_queue, &EventQueue::dispatch_forever));
mr_wang 3:1345f959c490 28 //ACCGYRO_init();
mr_wang 4:99891561a38b 29 //event_thread.start(callback(&event_queue, &EventQueue::dispatch_forever));
mr_wang 0:0ea84b3cf851 30 //Thread::wait(osWaitForever);
mr_wang 4:99891561a38b 31 //event_queue.call_every(1000, SERVO_task);
mr_wang 4:99891561a38b 32 //event_queue.call_every(1000, ACCGYRO_task);
mr_wang 0:0ea84b3cf851 33 //q.dispatch();
mr_wang 0:0ea84b3cf851 34 //eventqueue.call_every(1000,printf,"LSM6DSL [acc/mg]: %6ld\r\n", ACCGYRO_get_gyro_x());
mr_wang 0:0ea84b3cf851 35 //q.dispatch();
mr_wang 0:0ea84b3cf851 36 while(1)
mr_wang 0:0ea84b3cf851 37 {
mr_wang 3:1345f959c490 38 //eventqueue.call(printf,"LSM6DSL [acc/mg]: %6ld\r\n", ACCGYRO_get_gyro_x());
mr_wang 0:0ea84b3cf851 39 //q.dispatch();
mr_wang 0:0ea84b3cf851 40 //q.call(printf, "*\n");
mr_wang 0:0ea84b3cf851 41 //printf("*");
mr_wang 0:0ea84b3cf851 42 //Thread::wait(1000);
mr_wang 0:0ea84b3cf851 43 //printf("LSM6DSL [acc/mg]: %6ld\r\n", ACCGYRO_get_gyro_x());
mr_wang 0:0ea84b3cf851 44 //printf("LSM6DSL [gyro/mdps]: %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
mr_wang 0:0ea84b3cf851 45 }
mr_wang 4:99891561a38b 46 }