Diff: main.cpp

Revision:

10:aafadd98d91c

Parent:

9:28821420f7a4

--- a/main.cpp	Sat Apr 18 20:03:58 2020 +0000
+++ b/main.cpp	Sat Apr 18 20:13:31 2020 +0000
@@ -1,22 +1,27 @@
 #include "mbed.h"
+#include "rtos.h"
 
 DigitalOut myled(LED2);
 
 Ticker bluetooth;
 Serial pc(USBTX, USBRX);
 
+Mutex parameters_mutex;
 
 //Control system variables
 float rp = 50;
 float rd = 51;
 float ri = 50;
 float desired_angle = 0;
+
+
+
 Serial blue(p28,p27);
 
 void bluetooth_update() {
     char bnum=0;
     char bhit=0;
-    
+    while(1){
     while (blue.getc()!='!') {
         
         }
@@ -24,6 +29,7 @@
             bnum = blue.getc(); //button number
             pc.printf("%d",bnum);
             bhit = blue.getc(); //1=hit, 0=release
+            parameters_mutex.lock();
             if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
                 myled = bnum - '0'; //current button number will appear on LEDs
                 switch (bnum) {
@@ -87,17 +93,21 @@
                         break;
                 }
             }
+            parameters_mutex.unlock();
         }
-    //}
+        Thread::wait(100);
+    }
 }
 
 int main() {
     pc.printf("this is running");
     //bluetooth.attach(&bluetooth_update, 0.1);
     while(1) {
-        bluetooth_update();
+//        bluetooth_update();
+        parameters_mutex.lock();
         pc.printf("rp: %f, rd: %f, ri: %f, desired_angle: %f\n", rp, rd, ri, desired_angle);
-        wait(0.1);
+        parameters_mutex.unlock();
+        Thread::wait(0.1);
     }
 }