Diff: main.cpp

Revision:

0:a36c747fb7e0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Dec 09 04:49:58 2019 +0000
@@ -0,0 +1,153 @@
+#include "mbed.h"
+#include "Motor.h"
+#include "rtos.h"
+#include "ultrasonic.h"
+
+// THREADS
+
+Thread dispenseThread;
+
+// BLUETOOTH
+ 
+Serial blue(p28,p27);
+
+// MOTOR
+
+Motor ketch(p21, p11, p12); // pwm, fwd, rev
+
+// DEBUG
+
+DigitalOut debugLED(LED1);
+DigitalOut errorLED(LED4);
+
+// SONAR
+int global_distance;
+
+void dist(int a_distance)
+{
+    global_distance = a_distance;
+}
+ultrasonic mu(p6, p7, .1, 1, &dist);    //Set the trigger pin to D8 and the echo pin to D9
+                                        //have updates every .1 seconds and a timeout after 1
+                                        //second, and call dist when the distance changes
+// Servo ketch(p21);
+
+
+bool ketchupDispensing = false;
+
+void dispenseKetchup() {
+ if (ketchupDispensing) {
+    // already dispensing the ketch
+    return; 
+ }
+ 
+ // set dispensing flag
+ ketchupDispensing = true;
+ 
+ //dispense
+ ketch.speed(1.0f);
+}
+
+void stopDispenseKetchup() {
+  if (!ketchupDispensing) {
+    // not dispensing, you can't stop no ketch, so just return
+    return;    
+  }
+  
+  // unset dispensing flag
+  ketchupDispensing = false;
+  ketch.speed(0.0f);
+  
+  // turns debug LEDs off just in case
+  debugLED = 0;
+  errorLED = 0;
+}
+
+void dispenseSomeKetchup() {
+    if (global_distance < 150) {
+        debugLED = 1;
+        printf("In thread, dispensing ketchup\n");
+        dispenseKetchup();
+        Thread::wait(1750);  
+        stopDispenseKetchup();
+        printf("Stopped dispense\n");
+        debugLED = 0;
+    } else {
+        debugLED = 1;
+        errorLED = 1;
+        Thread::wait(1750);
+        debugLED = 0;
+        errorLED = 0;    
+    }
+}
+
+void dispenseMuchKetchup() {
+    if (global_distance < 150) {
+        debugLED = 1;
+        printf("In thread, dispensing ketchup\n");
+        dispenseKetchup();
+        Thread::wait(3500);  
+        stopDispenseKetchup();
+        printf("Stopped dispense\n");
+        debugLED = 0;
+    } else {
+        debugLED = 1;
+        errorLED = 1;
+        Thread::wait(1750);
+        debugLED = 0;
+        errorLED = 0;    
+    }
+}
+
+void dispenseKetchupInfinitely() {
+    if (global_distance < 150) {
+        debugLED = 1;
+        printf("In thread, dispensing ketchup continuous\n");
+        dispenseKetchup();
+    } else {
+        debugLED = 1;
+        errorLED = 1;
+        Thread::wait(1750);
+        debugLED = 0;
+        errorLED = 0;    
+    }
+}
+  
+int main()
+{
+    mu.startUpdates();//start measuring the distance
+    debugLED = 1;
+    ketch.speed(1.0f);
+    Thread::wait(1000);
+    ketch.speed(0.0f);
+    debugLED = 0;
+    while(1) {
+        //Do something else here
+        mu.checkDistance();     //call checkDistance() as much as possible, as this is where
+                                //the class checks if dist needs to be called.
+        char bnum;
+        if (blue.getc()=='!') {
+            if (blue.getc()=='B') { //button data
+                bnum = blue.getc(); //button number
+                printf("bnum is %c", bnum);
+                if ((bnum>='1')&&(bnum<='4')) //is a number button 1..4
+                {
+                    if (bnum == '1') {
+                        // dispense some ketchup
+                        printf("Starting thread\n");
+                        dispenseThread.start(dispenseSomeKetchup);
+                    } else if (bnum == '2') {
+                        // dispense a lot of ketchup
+                        dispenseMuchKetchup();
+                    } else if (bnum == '3') {
+                        // infinite ketchup
+                        dispenseKetchupInfinitely();
+                    } else if (bnum == '4') {
+                        // stop dispense ketchup
+                        stopDispenseKetchup();
+                    }
+                }
+            }
+        }
+    }
+}
\ No newline at end of file