main.cpp

00001 #include "mbed.h"
00002 #include "TSISensor.h"
00003 
00004 //Lab 5 part 1 
00005 //LED light up according to which button is pressed
00006 
00007 Serial pc(USBTX, USBRX); // tx, rx
00008 DigitalOut led1(PTD3,0);
00009 DigitalOut led2(PTD5,0);
00010 DigitalOut led3(PTD0,0);
00011 DigitalOut led4(PTD2,0);
00012 TSISensor tsi;
00013 
00014 Thread l_out ; 
00015 Thread l_in ; 
00016 Thread r_out ; 
00017 Thread r_in ; 
00018 
00019 enum pos{neutral, lo, li, ri, ro};
00020 enum ledonoff{on, off};
00021 
00022 # define lout 0x01   
00023 # define lin 0x02
00024 # define rin 0x04
00025 # define rout 0x08   
00026 
00027 EventFlags signals;  
00028 
00029 void leftout() {  
00030     int l1=on;
00031     while (true) {
00032         switch (l1){
00033             case on:
00034                 signals.wait_any(lout);//Wait until flag
00035                 //pc.printf("lo  ");
00036                 led1=1;
00037                 l1=off;//Turn LED on or off
00038                 signals.clear(lout);
00039             break;
00040             case off:
00041                 signals.wait_any(lout);
00042                 //pc.printf("lo  ");
00043                 led1=0;
00044                 l1=on;
00045                 signals.clear(lout);
00046             break;    
00047         } 
00048     }
00049 }
00050 void leftin() {  
00051     int l2=on;
00052     while (true) {
00053         switch (l2){
00054             case on:
00055                 signals.wait_any(lin);
00056                 //pc.printf("li  ");
00057                 led2=1;
00058                 l2=off;
00059                 signals.clear(lin);
00060             break;
00061             case off:
00062                 signals.wait_any(lin);
00063                 //pc.printf("li  ");
00064                 led2=0;
00065                 l2=on;
00066                 signals.clear(lin);
00067             break;    
00068         } 
00069     }
00070 }
00071 void rightin() {  
00072     int l3=on;
00073     while (true) {
00074         switch (l3){
00075             case on:
00076                 signals.wait_any(rin);
00077                 //pc.printf("ri    ");
00078                 led3=1;
00079                 l3=off;
00080                 signals.clear(rin);
00081             break;
00082             case off:
00083                 signals.wait_any(rin);
00084                 //pc.printf("ri   ");
00085                 led3=0;
00086                 l3=on;
00087                 signals.clear(rin);
00088             break;    
00089         } 
00090     }
00091 }
00092 void rightout() {  
00093     int l4=on;
00094     while (true) {
00095         switch (l4){
00096             case on:
00097                 signals.wait_any(rout);
00098                 //pc.printf("ro   ");
00099                 led4=1;
00100                 l4=off;
00101                 signals.clear(rout);
00102             break;
00103             case off:
00104                 signals.wait_any(rout);
00105                 //pc.printf("ro   ");
00106                 led4=0;
00107                 l4=on;
00108                 signals.clear(rout);
00109             break;    
00110         } 
00111     }
00112 }
00113 
00114 int main(void) {
00115     int pos=neutral;
00116     uint8_t d;
00117     pc.printf("START");
00118     l_out.start(leftout) ; 
00119     l_in.start(leftin) ; 
00120     r_in.start(rightin);
00121     r_out.start(rightout);
00122     
00123     while (true) {
00124         d = tsi.readDistance() ;  // Distance is between 0 and 39
00125                                           // When no touch --> 0
00126                                           // Left --> low value  Right --> high value
00127         switch (pos){
00128             case neutral:
00129                 if (d>3 && d<9){pos=lo; signals.set(lout);}    //Set flags and change states
00130                 if (d>13 && d<19){pos=li; signals.set(lin);} 
00131                 if (d>23 && d<29){pos=ri; signals.set(rin);} 
00132                 if (d>33){pos=ro; signals.set(rout);} 
00133             break;
00134             case lo:
00135                 if (d<3 || d>9) pos=neutral;
00136             break;
00137             case li:
00138                 if (d<13 || d>19) pos=neutral;
00139             break;
00140             case ri:
00141                 if (d<23 || d>29) pos=neutral;
00142             break;
00143             case ro:
00144                 if (d<33) pos=neutral;
00145             break;
00146         }
00147         pc.printf("%d", d) ;  
00148         pc.putc(' ') ;
00149         ThisThread::sleep_for(100) ; 
00150         }
00151 }