main.cpp

00001 #include "mbed.h"
00002 #include "Motor.h"
00003 #include "rtos.h"
00004  
00005 AnalogIn inputx(p20); // input pins 20,19,18 for x,y,z axis respectively.
00006 AnalogIn inputy(p19);
00007 DigitalOut led1(LED1);
00008 DigitalOut led2(LED2);
00009 DigitalOut led3(LED3);
00010 Motor m1(p23,p5,p6); // pwm, fwd, rev
00011 //Motor m2(p22,p11,p12); // pwm,fwd,rev
00012 
00013 Serial pc(USBTX,USBRX); //Serial class for transmission of serial data
00014 Thread thread;  
00015 
00016  void led2_thread() {
00017     //while (true) {
00018          
00019         led2 = !led2;
00020         pc.printf("thread2 executed");
00021         Thread::wait(500);
00022       
00023     //} 
00024     
00025 }
00026  
00027  void led1_thread() {
00028    // while(true) {
00029        
00030         led1 = !led1;
00031         pc.printf("thread1 executed");
00032        
00033        Thread::wait(500);
00034      
00035   //  }
00036 }
00037 
00038 void led3_thread() {
00039     //while (true) {
00040          pc.printf("invalid");
00041          led3 = !led3;
00042         //m2.speed(0);
00043         Thread::wait(500);
00044   //  }
00045 }
00046 
00047 
00048 int main() 
00049 {
00050 pc.baud(9600);   // fixing a constant baud rate of 9600 bps at which mbed will interact with computer
00051 float cal_x,cal_y;  //caliberation variables
00052 int x,y; // variables for x,y,z axes
00053 int i=100;
00054 while(i--)      //small timed loop to caliberate the accelerometer with currentl position of the accelerometer
00055 {
00056 cal_x=inputx*100;
00057 cal_y=inputy*100;
00058 
00059 }
00060 while(true)
00061     {  
00062      Thread::wait(500);
00063         x=4*(cal_x - inputx*100);
00064         y=4*(cal_y - inputy*100);
00065  
00066   
00067     y=(y-30);
00068       pc.printf("x=%d,y=%d *",x,y);
00069       pc.printf("\n");
00070      
00071     if(x >= 0 && y >=0)
00072    {
00073       pc.printf("\n Anticlockwise\n");
00074         for (float s= 1.0; s < 10.0 ; s += 0.01)
00075        m1.speed(s); // clockwise
00076    thread.start(led1_thread);
00077    }
00078    
00079      
00080     else if (x <= 0 && y <=0)
00081    { 
00082      pc.printf("\n Clockwise \n");
00083         for(float s= -1.0; s > -10.0 ; s += -0.01)
00084         m1.speed(s); 
00085       
00086        // anticlockwise //Anticlockwise
00087                 //  led1_thread();                                                                                    
00088   thread.start(led2_thread);
00089    }
00090     
00091    else  if((x<=0 && y>=0)|| (x>=0 && y<=0))
00092     {
00093          pc.printf("");
00094          m1.speed(0); //stop
00095          thread.start(led3_thread);
00096         }
00097        
00098        Thread::wait(500);
00099      
00100         //passing the caliberated x,y,z values to the computer.
00101         }  
00102        
00103 }