2014 Eurobot fork
Dependencies: mbed-rtos mbed QEI
Diff: main.cpp
- Revision:
- 13:d4b5851742a3
- Parent:
- 11:bbddc908c78c
- Child:
- 14:c638d4b9ee94
diff -r bbddc908c78c -r d4b5851742a3 main.cpp --- a/main.cpp Fri Apr 05 17:47:06 2013 +0000 +++ b/main.cpp Fri Apr 05 21:49:23 2013 +0000 @@ -37,6 +37,7 @@ */ #include "mbed.h" +#include "rtos.h" Serial pc(USBTX, USBRX); const PinName P_SERVO_LOWER_ARM = p5; @@ -65,6 +66,7 @@ #include "Sensors/Encoders/Encoder.h" #include "Sensors/Colour/Colour.h" #include "Sensors/CakeSensor/CakeSensor.h" +#include "Processes/Printing/Printing.h" @@ -80,6 +82,8 @@ void ledphototransistortest(); void colourtest(); void cakesensortest(); +void printingtestthread(void const*); +void printingtestthread2(void const*); int main() { @@ -95,9 +99,43 @@ //motortestline(); //ledtest(); //phototransistortest(); - ledphototransistortest(); + //ledphototransistortest(); //colourtest(); // Red SnR too low - cakesensortest(); + //cakesensortest(); + DigitalOut l1(LED1); + Thread p(printingThread, NULL, osPriorityNormal, 2048); + l1=1; + Thread a(printingtestthread, NULL, osPriorityNormal, 1024); + Thread b(printingtestthread2, NULL, osPriorityNormal, 1024); + Thread::wait(osWaitForever); +} + +#include <cstdlib> +using namespace std; + +void printingtestthread(void const*){ + const char ID = 1; + float buffer[3] = {ID}; + registerID(ID,sizeof(buffer)/sizeof(buffer[0])); + while (true){ + for(size_t i = 1; i != sizeof(buffer)/sizeof(buffer[0]); ++i){ + buffer[i] =ID ; + } + updateval(ID, buffer, sizeof(buffer)/sizeof(buffer[0])); + Thread::wait(200); + } +} +void printingtestthread2(void const*){ + const char ID = 2; + float buffer[5] = {ID}; + registerID(ID,sizeof(buffer)/sizeof(buffer[0])); + while (true){ + for(size_t i = 1; i != sizeof(buffer)/sizeof(buffer[0]); ++i){ + buffer[i] = ID; + } + updateval(ID, buffer, sizeof(buffer)/sizeof(buffer[0])); + Thread::wait(500); + } } void cakesensortest(){