RTOS
Dependencies: Motor mbed-rtos mbed
Fork of rtos_basic by
main.cpp
- Committer:
- tusharb
- Date:
- 2017-04-15
- Revision:
- 12:2de7e289b264
- Parent:
- 11:0309bef74ba8
File content as of revision 12:2de7e289b264:
#include "mbed.h" #include "rtos.h" #include "Motor.h" DigitalOut led2(LED2); DigitalOut led3(LED3); AnalogIn inputx(p20); // input pins 20,19,18 for x,y,z axis respectively. AnalogIn inputy(p19); Motor m1(p23,p5,p6); // pwm, fwd, rev Serial pc(USBTX,USBRX); Thread thread; void led2_thread() { while (true) { for (float s= -1.0; s > -1000.0 ; s += -0.01) m1.speed(s); // anticlockwise led2 = !led2; Thread::wait(10000); } } void led3_thread() { while (true) { for (float s= 1.0; s < 1000.0 ; s += 0.01) m1.speed(s); // clockwise led3 = !led3; Thread::wait(10000); } } int main() { pc.baud(9600); // fixing a constant baud rate of 9600 bps at which mbed will interact with computer float cal_x,cal_y; //caliberation variables int x,y; // variables for x,y,z axes int i=100; while(i--) //small timed loop to caliberate the accelerometer with currentl position of the accelerometer { cal_x=inputx*100; cal_y=inputy*100; } while(1) { x=4*(cal_x - inputx*100); y=4*(cal_y - inputy*100); y=(y-30); pc.printf("x=%d,y=%d *",x,y); pc.printf("\n"); if(x <= 0 && y <=0) { thread.start(led2_thread); } else if (x>=0 && y>=0) { thread.start(led3_thread); } else if (x>=0 && y<=0) { thread.start(led2_thread); } else if(x<=0 && y>=0) { thread.start(led3_thread); } //passing the caliberated x,y,z values to the computer. } }