Junjie Wang / Mbed OS humanoid

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Dependencies:   LSM6DSL

Fork of a_NYP_humanoid by Lin ShengKun

main.cpp@3:1345f959c490, 2018-05-02 (annotated)

Committer:
mr_wang
Date:
Wed May 02 07:49:13 2018 +0000
Revision:
3:1345f959c490
Parent:
2:7d574b1ab3cd 
ahah

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mr_wang 0:0ea84b3cf851 1 #include "mbed.h"
mr_wang 0:0ea84b3cf851 2 #include "rtos.h"
mr_wang 3:1345f959c490 3 #include "servo.h"
mr_wang 0:0ea84b3cf851 4 #include "accgyro.h"
mr_wang 0:0ea84b3cf851 5 //Serial pc(USBTX, USBRX);
mr_wang 0:0ea84b3cf851 6 DigitalOut led2(LED2);
mr_wang 3:1345f959c490 7 Thread event_thread;
mr_wang 3:1345f959c490 8 Thread ACCGYRO_thread;
mr_wang 3:1345f959c490 9 Thread SERVO_thread;
mr_wang 3:1345f959c490 10 EventQueue event_queue;
mr_wang 0:0ea84b3cf851 11
mr_wang 0:0ea84b3cf851 12 int main()
ha731548874 2:7d574b1ab3cd 13 {
mr_wang 3:1345f959c490 14 ACCGYRO_thread.start(ACCGYRO_init);
mr_wang 3:1345f959c490 15 SERVO_thread.start(SERVO_init);
mr_wang 3:1345f959c490 16 //SERVO_init();
mr_wang 3:1345f959c490 17 //event_thread.start(callback(&event_queue, &EventQueue::dispatch_forever));
mr_wang 3:1345f959c490 18 //ACCGYRO_init();
mr_wang 3:1345f959c490 19 event_thread.start(callback(&event_queue, &EventQueue::dispatch_forever));
mr_wang 0:0ea84b3cf851 20 //Thread::wait(osWaitForever);
mr_wang 3:1345f959c490 21 event_queue.call_every(1000, SERVO_task);
mr_wang 3:1345f959c490 22 event_queue.call_every(1000, ACCGYRO_task);
mr_wang 0:0ea84b3cf851 23 //q.dispatch();
mr_wang 0:0ea84b3cf851 24 //eventqueue.call_every(1000,printf,"LSM6DSL [acc/mg]: %6ld\r\n", ACCGYRO_get_gyro_x());
mr_wang 0:0ea84b3cf851 25 //q.dispatch();
mr_wang 0:0ea84b3cf851 26 while(1)
mr_wang 0:0ea84b3cf851 27 {
mr_wang 3:1345f959c490 28 //eventqueue.call(printf,"LSM6DSL [acc/mg]: %6ld\r\n", ACCGYRO_get_gyro_x());
mr_wang 0:0ea84b3cf851 29 led2 = !led2;
mr_wang 0:0ea84b3cf851 30 wait(1);
mr_wang 0:0ea84b3cf851 31 //q.dispatch();
mr_wang 0:0ea84b3cf851 32 //q.call(printf, "*\n");
mr_wang 0:0ea84b3cf851 33 //printf("*");
mr_wang 0:0ea84b3cf851 34 //Thread::wait(1000);
mr_wang 0:0ea84b3cf851 35 //printf("LSM6DSL [acc/mg]: %6ld\r\n", ACCGYRO_get_gyro_x());
mr_wang 0:0ea84b3cf851 36 //printf("LSM6DSL [gyro/mdps]: %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
mr_wang 0:0ea84b3cf851 37 }
mr_wang 0:0ea84b3cf851 38 }