victor gomez / Mbed OS 11-logica-proximidad-joystick

yes

Dependencies:   SparkfunAnalogJoystick

main.cpp@1:17ea74f31633, 2021-06-24 (annotated)

Committer:
thevic16
Date:
Thu Jun 24 19:50:59 2021 +0000
Revision:
1:17ea74f31633
Parent:
0:b8adbf13199b 
Prueba2;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
thevic16 0:b8adbf13199b 1 #include "mbed.h"
thevic16 0:b8adbf13199b 2 #include "platform/mbed_thread.h"
thevic16 0:b8adbf13199b 3 #include "SparkfunAnalogJoystick.h"
thevic16 0:b8adbf13199b 4
thevic16 0:b8adbf13199b 5 #define M_PI 3.14159265358979323846
thevic16 0:b8adbf13199b 6
thevic16 0:b8adbf13199b 7 Thread thread1;
thevic16 0:b8adbf13199b 8 Thread thread2;
thevic16 0:b8adbf13199b 9 Thread thread3;
thevic16 0:b8adbf13199b 10 Thread thread4;
thevic16 0:b8adbf13199b 11 Thread thread5;
thevic16 1:17ea74f31633 12 Thread thread6;
thevic16 1:17ea74f31633 13 Thread thread7;
thevic16 0:b8adbf13199b 14
thevic16 1:17ea74f31633 15 int distance1 = 0; //distancia adelante.
thevic16 1:17ea74f31633 16 int distance2 = 0; //distancia atras.
thevic16 1:17ea74f31633 17 int distance3 = 0; // distancia izquierda.
thevic16 1:17ea74f31633 18 int distance4 = 0; // distancia derecha.
thevic16 0:b8adbf13199b 19
thevic16 0:b8adbf13199b 20 int distanceLimit = 10;
thevic16 0:b8adbf13199b 21
thevic16 1:17ea74f31633 22 DigitalIn modo1(D8); //Modo manual
thevic16 1:17ea74f31633 23 DigitalIn modo2(D9); //Modo comandos joystick
thevic16 1:17ea74f31633 24 DigitalIn modo3(D10); //Modo comandos de voz
thevic16 1:17ea74f31633 25 DigitalIn modo4(D11); //Modo rutas autonomas
thevic16 1:17ea74f31633 26
thevic16 1:17ea74f31633 27 Serial pc(USBTX, USBRX); //Para recibir los comandos de voz.
thevic16 0:b8adbf13199b 28
thevic16 0:b8adbf13199b 29 void thread1_HCSR04()
thevic16 0:b8adbf13199b 30 {
thevic16 0:b8adbf13199b 31 DigitalOut trigger(D0);
thevic16 0:b8adbf13199b 32 DigitalIn echo(D1);
thevic16 0:b8adbf13199b 33 Timer sonar;
thevic16 1:17ea74f31633 34 int correction = 0;
thevic16 1:17ea74f31633 35 sonar.reset();
thevic16 1:17ea74f31633 36 // measure actual software polling timer delays
thevic16 1:17ea74f31633 37 // delay used later in time correction
thevic16 1:17ea74f31633 38 // start timer
thevic16 1:17ea74f31633 39 sonar.start();
thevic16 1:17ea74f31633 40 // min software polling delay to read echo pin
thevic16 1:17ea74f31633 41 while (echo==2)
thevic16 1:17ea74f31633 42 {
thevic16 1:17ea74f31633 43
thevic16 1:17ea74f31633 44 };
thevic16 1:17ea74f31633 45 // stop timer
thevic16 1:17ea74f31633 46 sonar.stop();
thevic16 1:17ea74f31633 47 // read timer
thevic16 1:17ea74f31633 48 correction = sonar.read_us();
thevic16 1:17ea74f31633 49 printf("Sensor proximidad 1: Approximate software overhead timer delay is %d uS\n\r",correction);
thevic16 1:17ea74f31633 50 //Loop to read Sonar distance values, scale, and print
thevic16 1:17ea74f31633 51 while(1)
thevic16 1:17ea74f31633 52 {
thevic16 1:17ea74f31633 53 //trigger sonar to send a ping
thevic16 1:17ea74f31633 54 trigger = 1;
thevic16 1:17ea74f31633 55 sonar.reset();
thevic16 1:17ea74f31633 56 wait_us(10.0);
thevic16 1:17ea74f31633 57 trigger = 0;
thevic16 1:17ea74f31633 58 //wait for echo high
thevic16 1:17ea74f31633 59 while (echo==0)
thevic16 1:17ea74f31633 60 {
thevic16 1:17ea74f31633 61
thevic16 1:17ea74f31633 62 };
thevic16 1:17ea74f31633 63 //echo high, so start timer
thevic16 1:17ea74f31633 64 sonar.start();
thevic16 1:17ea74f31633 65 //wait for echo low
thevic16 1:17ea74f31633 66 while (echo==1) {};
thevic16 1:17ea74f31633 67 //stop timer and read value
thevic16 1:17ea74f31633 68 sonar.stop();
thevic16 1:17ea74f31633 69 //subtract software overhead timer delay and scale to cm
thevic16 1:17ea74f31633 70 distance1 = (sonar.read_us()-correction)/58.0;
thevic16 1:17ea74f31633 71 //printf("Sensor proximidad 1: %d cm \n\r",distance1);
thevic16 1:17ea74f31633 72 //wait so that any echo(s) return before sending another ping
thevic16 1:17ea74f31633 73 thread_sleep_for(1000);
thevic16 1:17ea74f31633 74 }
thevic16 1:17ea74f31633 75 }
thevic16 0:b8adbf13199b 76
thevic16 1:17ea74f31633 77 void thread2_HCSR04()
thevic16 1:17ea74f31633 78 {
thevic16 1:17ea74f31633 79 DigitalOut trigger(D2);
thevic16 1:17ea74f31633 80 DigitalIn echo(D3);
thevic16 1:17ea74f31633 81 Timer sonar;
thevic16 0:b8adbf13199b 82 int correction = 0;
thevic16 0:b8adbf13199b 83 sonar.reset();
thevic16 0:b8adbf13199b 84 // measure actual software polling timer delays
thevic16 0:b8adbf13199b 85 // delay used later in time correction
thevic16 0:b8adbf13199b 86 // start timer
thevic16 0:b8adbf13199b 87 sonar.start();
thevic16 0:b8adbf13199b 88 // min software polling delay to read echo pin
thevic16 1:17ea74f31633 89 while (echo==2)
thevic16 1:17ea74f31633 90 {
thevic16 1:17ea74f31633 91
thevic16 1:17ea74f31633 92 };
thevic16 0:b8adbf13199b 93 // stop timer
thevic16 0:b8adbf13199b 94 sonar.stop();
thevic16 0:b8adbf13199b 95 // read timer
thevic16 0:b8adbf13199b 96 correction = sonar.read_us();
thevic16 1:17ea74f31633 97 printf("Sensor proximidad 2: Approximate software overhead timer delay is %d uS\n\r",correction);
thevic16 0:b8adbf13199b 98 //Loop to read Sonar distance values, scale, and print
thevic16 1:17ea74f31633 99 while(1)
thevic16 1:17ea74f31633 100 {
thevic16 1:17ea74f31633 101 // trigger sonar to send a ping
thevic16 0:b8adbf13199b 102 trigger = 1;
thevic16 0:b8adbf13199b 103 sonar.reset();
thevic16 0:b8adbf13199b 104 wait_us(10.0);
thevic16 0:b8adbf13199b 105 trigger = 0;
thevic16 1:17ea74f31633 106 //wait for echo high
thevic16 1:17ea74f31633 107 while (echo==0)
thevic16 1:17ea74f31633 108 {
thevic16 1:17ea74f31633 109
thevic16 1:17ea74f31633 110 };
thevic16 1:17ea74f31633 111 //echo high, so start timer
thevic16 0:b8adbf13199b 112 sonar.start();
thevic16 1:17ea74f31633 113 //wait for echo low
thevic16 1:17ea74f31633 114 while (echo==1)
thevic16 1:17ea74f31633 115 {
thevic16 1:17ea74f31633 116
thevic16 1:17ea74f31633 117 };
thevic16 1:17ea74f31633 118 //stop timer and read value
thevic16 0:b8adbf13199b 119 sonar.stop();
thevic16 1:17ea74f31633 120 //subtract software overhead timer delay and scale to cm
thevic16 1:17ea74f31633 121 distance2 = (sonar.read_us()-correction)/58.0;
thevic16 1:17ea74f31633 122 //printf("Sensor proximidad 2: %d cm \n\r",distance2);
thevic16 1:17ea74f31633 123 //wait so that any echo(s) return before sending another ping
thevic16 1:17ea74f31633 124 thread_sleep_for(1000);
thevic16 1:17ea74f31633 125 }
thevic16 0:b8adbf13199b 126 }
thevic16 0:b8adbf13199b 127
thevic16 1:17ea74f31633 128 void thread3_HCSR04()
thevic16 0:b8adbf13199b 129 {
thevic16 1:17ea74f31633 130 DigitalOut trigger(D4);
thevic16 1:17ea74f31633 131 DigitalIn echo(D5);
thevic16 0:b8adbf13199b 132 Timer sonar;
thevic16 0:b8adbf13199b 133 int correction = 0;
thevic16 0:b8adbf13199b 134 sonar.reset();
thevic16 0:b8adbf13199b 135 // measure actual software polling timer delays
thevic16 0:b8adbf13199b 136 // delay used later in time correction
thevic16 0:b8adbf13199b 137 // start timer
thevic16 0:b8adbf13199b 138 sonar.start();
thevic16 0:b8adbf13199b 139 // min software polling delay to read echo pin
thevic16 1:17ea74f31633 140 while (echo==2)
thevic16 1:17ea74f31633 141 {
thevic16 1:17ea74f31633 142
thevic16 1:17ea74f31633 143 };
thevic16 0:b8adbf13199b 144 // stop timer
thevic16 0:b8adbf13199b 145 sonar.stop();
thevic16 0:b8adbf13199b 146 // read timer
thevic16 0:b8adbf13199b 147 correction = sonar.read_us();
thevic16 1:17ea74f31633 148 printf("Sensor proximidad 3: Approximate software overhead timer delay is %d uS\n\r",correction);
thevic16 0:b8adbf13199b 149 //Loop to read Sonar distance values, scale, and print
thevic16 1:17ea74f31633 150 while(1)
thevic16 1:17ea74f31633 151 {
thevic16 1:17ea74f31633 152 // trigger sonar to send a ping
thevic16 0:b8adbf13199b 153 trigger = 1;
thevic16 0:b8adbf13199b 154 sonar.reset();
thevic16 0:b8adbf13199b 155 wait_us(10.0);
thevic16 0:b8adbf13199b 156 trigger = 0;
thevic16 1:17ea74f31633 157 //wait for echo high
thevic16 1:17ea74f31633 158 while (echo==0)
thevic16 1:17ea74f31633 159 {
thevic16 1:17ea74f31633 160
thevic16 1:17ea74f31633 161 };
thevic16 1:17ea74f31633 162 //echo high, so start timer
thevic16 0:b8adbf13199b 163 sonar.start();
thevic16 1:17ea74f31633 164 //wait for echo low
thevic16 1:17ea74f31633 165 while (echo==1)
thevic16 1:17ea74f31633 166 {
thevic16 1:17ea74f31633 167
thevic16 1:17ea74f31633 168 };
thevic16 1:17ea74f31633 169 //stop timer and read value
thevic16 0:b8adbf13199b 170 sonar.stop();
thevic16 1:17ea74f31633 171 //subtract software overhead timer delay and scale to cm
thevic16 1:17ea74f31633 172 distance3 = (sonar.read_us()-correction)/58.0;
thevic16 1:17ea74f31633 173 //printf("Sensor proximidad 3: %d cm \n\r",distance3);
thevic16 1:17ea74f31633 174 //wait so that any echo(s) return before sending another ping
thevic16 1:17ea74f31633 175 thread_sleep_for(1000);
thevic16 1:17ea74f31633 176 }
thevic16 0:b8adbf13199b 177 }
thevic16 1:17ea74f31633 178
thevic16 1:17ea74f31633 179 void thread4_HCSR04()
thevic16 0:b8adbf13199b 180 {
thevic16 1:17ea74f31633 181 DigitalOut trigger(D6);
thevic16 1:17ea74f31633 182 DigitalIn echo(D7);
thevic16 0:b8adbf13199b 183 Timer sonar;
thevic16 0:b8adbf13199b 184 int correction = 0;
thevic16 0:b8adbf13199b 185 sonar.reset();
thevic16 0:b8adbf13199b 186 // measure actual software polling timer delays
thevic16 0:b8adbf13199b 187 // delay used later in time correction
thevic16 0:b8adbf13199b 188 // start timer
thevic16 0:b8adbf13199b 189 sonar.start();
thevic16 0:b8adbf13199b 190 // min software polling delay to read echo pin
thevic16 1:17ea74f31633 191 while (echo==2)
thevic16 1:17ea74f31633 192 {
thevic16 0:b8adbf13199b 193
thevic16 1:17ea74f31633 194 };
thevic16 0:b8adbf13199b 195 // stop timer
thevic16 0:b8adbf13199b 196 sonar.stop();
thevic16 0:b8adbf13199b 197 // read timer
thevic16 0:b8adbf13199b 198 correction = sonar.read_us();
thevic16 0:b8adbf13199b 199 printf("Sensor proximidad 4: Approximate software overhead timer delay is %d uS\n\r",correction);
thevic16 0:b8adbf13199b 200 //Loop to read Sonar distance values, scale, and print
thevic16 1:17ea74f31633 201 while(1)
thevic16 1:17ea74f31633 202 {
thevic16 1:17ea74f31633 203 // trigger sonar to send a ping
thevic16 0:b8adbf13199b 204 trigger = 1;
thevic16 0:b8adbf13199b 205 sonar.reset();
thevic16 0:b8adbf13199b 206 wait_us(10.0);
thevic16 0:b8adbf13199b 207 trigger = 0;
thevic16 1:17ea74f31633 208 //wait for echo high
thevic16 1:17ea74f31633 209 while (echo==0)
thevic16 1:17ea74f31633 210 {
thevic16 1:17ea74f31633 211
thevic16 1:17ea74f31633 212 };
thevic16 1:17ea74f31633 213 //echo high, so start timer
thevic16 0:b8adbf13199b 214 sonar.start();
thevic16 1:17ea74f31633 215 //wait for echo low
thevic16 1:17ea74f31633 216 while (echo==1)
thevic16 1:17ea74f31633 217 {
thevic16 1:17ea74f31633 218
thevic16 1:17ea74f31633 219 };
thevic16 1:17ea74f31633 220 //stop timer and read value
thevic16 0:b8adbf13199b 221 sonar.stop();
thevic16 1:17ea74f31633 222 //subtract software overhead timer delay and scale to cm
thevic16 0:b8adbf13199b 223 distance4 = (sonar.read_us()-correction)/58.0;
thevic16 0:b8adbf13199b 224 //printf("Sensor proximidad 4: %d cm \n\r",distance4);
thevic16 1:17ea74f31633 225 //wait so that any echo(s) return before sending another ping
thevic16 1:17ea74f31633 226 thread_sleep_for(1000);
thevic16 1:17ea74f31633 227 }
thevic16 0:b8adbf13199b 228 }
thevic16 0:b8adbf13199b 229
thevic16 1:17ea74f31633 230 void thread5_Joystick()
thevic16 1:17ea74f31633 231 {
thevic16 1:17ea74f31633 232 SparkfunAnalogJoystick JoyStick(A1, A0, D12);
thevic16 0:b8adbf13199b 233 float X;
thevic16 0:b8adbf13199b 234 float Y;
thevic16 1:17ea74f31633 235 while(1)
thevic16 1:17ea74f31633 236 {
thevic16 1:17ea74f31633 237 if(!modo1 && modo2 && !modo3 && !modo4)
thevic16 1:17ea74f31633 238 {
thevic16 1:17ea74f31633 239 X = JoyStick.xAxis();
thevic16 1:17ea74f31633 240 Y = JoyStick.yAxis();
thevic16 1:17ea74f31633 241
thevic16 1:17ea74f31633 242 printf("X-Axis: %f\n\r", X);
thevic16 1:17ea74f31633 243 printf("Y-Axis: %f\n\r", Y);
thevic16 1:17ea74f31633 244 printf(" \n\r");
thevic16 1:17ea74f31633 245
thevic16 1:17ea74f31633 246 if(X >= -0.60f && X <= 0.60f && Y >= 0.90f && Y <= 1.00f )
thevic16 1:17ea74f31633 247 {
thevic16 1:17ea74f31633 248 if(distance1 > distanceLimit)
thevic16 1:17ea74f31633 249 {
thevic16 1:17ea74f31633 250 printf("Comandos joystick: Hacia adelante \r \n");
thevic16 1:17ea74f31633 251 }
thevic16 1:17ea74f31633 252 else
thevic16 1:17ea74f31633 253 {
thevic16 1:17ea74f31633 254 printf("Comandos joystick: Obstaculo adelante \r \n");
thevic16 1:17ea74f31633 255 }
thevic16 1:17ea74f31633 256 thread_sleep_for(1000);
thevic16 1:17ea74f31633 257 }
thevic16 1:17ea74f31633 258 if(X >= -0.60f && X <= 0.60f && Y <= -0.90f && Y >= -1.00f)
thevic16 1:17ea74f31633 259 {
thevic16 1:17ea74f31633 260 if(distance2 > distanceLimit)
thevic16 1:17ea74f31633 261 {
thevic16 1:17ea74f31633 262 printf("Comandos joystick: Hacia atras \r \n");
thevic16 1:17ea74f31633 263 }
thevic16 1:17ea74f31633 264 else
thevic16 1:17ea74f31633 265 {
thevic16 1:17ea74f31633 266 printf("Comandos joystick: Obstaculo atras \r \n");
thevic16 1:17ea74f31633 267 }
thevic16 1:17ea74f31633 268 thread_sleep_for(1000);
thevic16 1:17ea74f31633 269 }
thevic16 1:17ea74f31633 270 if(Y >= -0.60f && Y <= 0.60f && X <= -0.90f && X >= -1.00f)
thevic16 1:17ea74f31633 271 {
thevic16 1:17ea74f31633 272 if(distance3 > distanceLimit)
thevic16 1:17ea74f31633 273 {
thevic16 1:17ea74f31633 274 printf("Comandos joystick: Hacia izquierda \r \n");
thevic16 1:17ea74f31633 275 }
thevic16 1:17ea74f31633 276 else
thevic16 1:17ea74f31633 277 {
thevic16 1:17ea74f31633 278 printf("Comandos joystick: Obstaculo izquierda \r \n");
thevic16 1:17ea74f31633 279 }
thevic16 1:17ea74f31633 280 thread_sleep_for(1000);
thevic16 1:17ea74f31633 281 }
thevic16 1:17ea74f31633 282 if(Y >= -0.60f && Y <= 0.60f && X >= 0.90f && X <= 1.00f)
thevic16 1:17ea74f31633 283 {
thevic16 1:17ea74f31633 284 if(distance4 > distanceLimit)
thevic16 1:17ea74f31633 285 {
thevic16 1:17ea74f31633 286 printf("Comandos joystick: Hacia derecha \r \n");
thevic16 1:17ea74f31633 287 }
thevic16 1:17ea74f31633 288 else
thevic16 1:17ea74f31633 289 {
thevic16 1:17ea74f31633 290 printf("Comandos joystick: Obstaculo derecha \r \n");
thevic16 1:17ea74f31633 291 }
thevic16 1:17ea74f31633 292 thread_sleep_for(1000);
thevic16 1:17ea74f31633 293 }
thevic16 1:17ea74f31633 294 thread_sleep_for(5);
thevic16 1:17ea74f31633 295 }
thevic16 1:17ea74f31633 296 }
thevic16 1:17ea74f31633 297 }
thevic16 1:17ea74f31633 298
thevic16 1:17ea74f31633 299 void thread6_ComandosVoz()
thevic16 1:17ea74f31633 300 {
thevic16 1:17ea74f31633 301 char c = pc.getc();
thevic16 0:b8adbf13199b 302 while(1)
thevic16 0:b8adbf13199b 303 {
thevic16 1:17ea74f31633 304 if(!modo1 && !modo2 && modo3 && !modo4)
thevic16 1:17ea74f31633 305 {
thevic16 1:17ea74f31633 306 if(c == 'w')
thevic16 1:17ea74f31633 307 {
thevic16 1:17ea74f31633 308 if(distance1 > distanceLimit )
thevic16 1:17ea74f31633 309 {
thevic16 1:17ea74f31633 310 pc.printf(" Comandos de voz: Hacia adelante \r \n");
thevic16 1:17ea74f31633 311 thread_sleep_for(500);
thevic16 1:17ea74f31633 312 }
thevic16 1:17ea74f31633 313 else
thevic16 1:17ea74f31633 314 {
thevic16 1:17ea74f31633 315 printf(" Comandos de voz: Obstaculo! No se puede ir hacia adelante. \r \n");
thevic16 1:17ea74f31633 316 }
thevic16 1:17ea74f31633 317 }
thevic16 1:17ea74f31633 318 if(c == 'd')
thevic16 0:b8adbf13199b 319 {
thevic16 1:17ea74f31633 320 if(distance2 > distanceLimit)
thevic16 1:17ea74f31633 321 {
thevic16 1:17ea74f31633 322 pc.printf(" Comandos de voz: Hacia la derecha \r \n");
thevic16 1:17ea74f31633 323 thread_sleep_for(500);
thevic16 1:17ea74f31633 324 }
thevic16 1:17ea74f31633 325 else
thevic16 1:17ea74f31633 326 {
thevic16 1:17ea74f31633 327 printf(" Comandos de voz: Obstaculo! No se puede ir hacia atras. \r \n");
thevic16 1:17ea74f31633 328 }
thevic16 1:17ea74f31633 329 }
thevic16 1:17ea74f31633 330 if(c == 's')
thevic16 1:17ea74f31633 331 {
thevic16 1:17ea74f31633 332 if(distance3 > distanceLimit)
thevic16 1:17ea74f31633 333 {
thevic16 1:17ea74f31633 334 pc.printf(" Comandos de voz: Hacia atrás \r \n");
thevic16 1:17ea74f31633 335 thread_sleep_for(500);
thevic16 1:17ea74f31633 336 }
thevic16 1:17ea74f31633 337 else
thevic16 1:17ea74f31633 338 {
thevic16 1:17ea74f31633 339 printf(" Comandos de voz: Obstaculo! No se puede ir hacia la izquierda. \r \n");
thevic16 1:17ea74f31633 340 }
thevic16 0:b8adbf13199b 341 }
thevic16 1:17ea74f31633 342 if(c == 'a')
thevic16 1:17ea74f31633 343 {
thevic16 1:17ea74f31633 344 if(distance4 > distanceLimit)
thevic16 1:17ea74f31633 345 {
thevic16 1:17ea74f31633 346 pc.printf(" Comandos de voz: Hacia la izquierda \r \n");
thevic16 1:17ea74f31633 347 thread_sleep_for(500);
thevic16 1:17ea74f31633 348 }
thevic16 1:17ea74f31633 349 else
thevic16 1:17ea74f31633 350 {
thevic16 1:17ea74f31633 351 printf(" Comandos de voz: Obstaculo! No se puede ir hacia la derecha. \r \n");
thevic16 1:17ea74f31633 352 }
thevic16 1:17ea74f31633 353 }
thevic16 1:17ea74f31633 354 }
thevic16 1:17ea74f31633 355 }
thevic16 1:17ea74f31633 356 }
thevic16 1:17ea74f31633 357
thevic16 1:17ea74f31633 358 void thread7_IndicarModo()
thevic16 1:17ea74f31633 359 {
thevic16 1:17ea74f31633 360 bool estadomodo1 = false;
thevic16 1:17ea74f31633 361 bool estadomodo2 = false;
thevic16 1:17ea74f31633 362 bool estadomodo3 = false;
thevic16 1:17ea74f31633 363 bool estadomodo4 = false;
thevic16 1:17ea74f31633 364 while (true)
thevic16 1:17ea74f31633 365 {
thevic16 1:17ea74f31633 366 if(modo1 && !modo2 && !modo3 && !modo4 && !estadomodo1)
thevic16 1:17ea74f31633 367 {
thevic16 1:17ea74f31633 368 printf("Modo manual \r \n");
thevic16 1:17ea74f31633 369 estadomodo1 = true;
thevic16 1:17ea74f31633 370 estadomodo2 = false;
thevic16 1:17ea74f31633 371 estadomodo3 = false;
thevic16 1:17ea74f31633 372 estadomodo4 = false;
thevic16 0:b8adbf13199b 373 }
thevic16 1:17ea74f31633 374 if(!modo1 && modo2 && !modo3 && !modo4 && !estadomodo2)
thevic16 1:17ea74f31633 375 {
thevic16 1:17ea74f31633 376 printf("Modo comandos joystick \r \n");
thevic16 1:17ea74f31633 377 estadomodo1 = false;
thevic16 1:17ea74f31633 378 estadomodo2 = true;
thevic16 1:17ea74f31633 379 estadomodo3 = false;
thevic16 1:17ea74f31633 380 estadomodo4 = false;
thevic16 1:17ea74f31633 381 }
thevic16 1:17ea74f31633 382 if(!modo1 && !modo2 && modo3 && !modo4 && !estadomodo3)
thevic16 1:17ea74f31633 383 {
thevic16 1:17ea74f31633 384 printf("Modo comandos de voz \r \n");
thevic16 1:17ea74f31633 385 estadomodo1 = false;
thevic16 1:17ea74f31633 386 estadomodo2 = false;
thevic16 1:17ea74f31633 387 estadomodo3 = true;
thevic16 1:17ea74f31633 388 estadomodo4 = false;
thevic16 1:17ea74f31633 389 }
thevic16 1:17ea74f31633 390 if(!modo1 && !modo2 && !modo3 && modo4 && !estadomodo4)
thevic16 1:17ea74f31633 391 {
thevic16 1:17ea74f31633 392 printf("Modo rutas autonomas \r \n");
thevic16 1:17ea74f31633 393 estadomodo1 = false;
thevic16 1:17ea74f31633 394 estadomodo2 = false;
thevic16 1:17ea74f31633 395 estadomodo3 = false;
thevic16 1:17ea74f31633 396 estadomodo4 = true;
thevic16 1:17ea74f31633 397 }
thevic16 0:b8adbf13199b 398 }
thevic16 1:17ea74f31633 399 }
thevic16 0:b8adbf13199b 400
thevic16 0:b8adbf13199b 401 int main()
thevic16 0:b8adbf13199b 402 {
thevic16 0:b8adbf13199b 403 thread1.start(thread1_HCSR04);
thevic16 0:b8adbf13199b 404 thread2.start(thread2_HCSR04);
thevic16 0:b8adbf13199b 405 thread3.start(thread3_HCSR04);
thevic16 0:b8adbf13199b 406 thread4.start(thread4_HCSR04);
thevic16 0:b8adbf13199b 407 thread5.start(thread5_Joystick);
thevic16 1:17ea74f31633 408 thread6.start(thread6_ComandosVoz);
thevic16 1:17ea74f31633 409 thread7.start(thread7_IndicarModo);
thevic16 0:b8adbf13199b 410 }