main.cpp

00001 #include "mbed.h"
00002 #include "TSISensor.h"
00003 
00004 // Example program for lab 5
00005 // -------------------------
00006 //  A value is read from the touch sensor and use
00007 //    to control two LEDs
00008 //  The value is also output to the serial interface
00009 
00010 Serial pc(USBTX, USBRX); // tx, rx
00011 TSISensor tsi;
00012 DigitalOut leds[4] = { PTA13, PTD5, PTD0, PTD2 };
00013 
00014 Thread thread1(osPriorityNormal, 1000); // thread for LED1
00015 Thread thread2(osPriorityNormal, 1000); // thread for LED2
00016 Thread thread3(osPriorityNormal, 1000); // thread for LED3
00017 Thread thread4(osPriorityNormal, 1000); // thread for LED4 
00018 
00019 void led1_thread() {
00020     while (true) {
00021         Thread::signal_wait(0x1);
00022         leds[0] = !leds[0];
00023     }
00024 }
00025 void led2_thread() {
00026     while (true) {
00027         Thread::signal_wait(0x1);
00028         leds[1] = !leds[1];
00029     }
00030 }
00031 void led3_thread() {
00032     while (true) {
00033         Thread::signal_wait(0x1);
00034         leds[2] = !leds[2];
00035     }
00036 }
00037 void led4_thread() {
00038     while (true) {
00039         Thread::signal_wait(0x1);
00040         leds[3] = !leds[3];
00041     }
00042 }
00043 
00044 int main(void) {
00045     enum states { none, leftOut, leftIn, rightIn, rightOut };
00046     states state = none;
00047     
00048     for (int i=0; i<4; i++) { // turn off all leds
00049         leds[i] = 0;
00050     }
00051     
00052     thread1.start(&led1_thread);
00053     thread2.start(&led2_thread);
00054     thread3.start(&led3_thread);
00055     thread4.start(&led4_thread);
00056     
00057     while (true) {
00058         uint8_t pos = tsi.readDistance() ;  // Distance is between 0 and 39
00059                                           // When no touch --> 0
00060                                           // Left --> low value  Right --> high value
00061         pc.printf("%d", pos) ;  
00062         pc.putc(' ') ;
00063         
00064         switch (state) {
00065             case none:
00066                 pc.printf("none\n\r");
00067                 if (pos > 3 && pos < 9) {
00068                     state = leftOut;
00069                     thread1.signal_set(0x1);
00070                 } else if (pos > 13 && pos < 19) {
00071                     state = leftIn;
00072                     thread2.signal_set(0x1);
00073                 } else if (pos > 23 && pos < 29) {
00074                     state = rightIn;
00075                     thread3.signal_set(0x1);
00076                 } else if (pos > 33) {
00077                     state = rightOut;
00078                     thread4.signal_set(0x1);
00079                 }
00080                 break;
00081             case leftOut:
00082                 pc.printf("leftOut\n\r");
00083                 if (pos < 3 || pos > 9) {
00084                     state = none;
00085                 }
00086                 break;
00087             case leftIn:
00088                 pc.printf("leftIn\n\r");
00089                 if (pos < 13 || pos > 19) {
00090                     state = none;
00091                 }
00092                 break;
00093             case rightIn:
00094                 pc.printf("rightIn\n\r");
00095                 if (pos < 23 || pos > 29) {
00096                     state = none;
00097                 }
00098                 break;
00099             case rightOut:
00100                 pc.printf("rightOut\n\r");
00101                 if (pos < 33) {
00102                     state = none;
00103                 }
00104                 break;
00105         }
00106         
00107         Thread::wait(200);  // This polling rate is too slow - increase it
00108                             // The slower rate maks it easier to output on the terminal
00109     }
00110 }