Revision 15:4ef3d9835b13, committed 2015-04-13

Comitter:

Soldier7

Date:

Mon Apr 13 13:19:24 2015 +0000

Parent:

10:ca6f2769964e

Parent:

14:f6d4980c48d6

Child:

16:74733a28eb80

Commit message:

An other merge with changes to the servos

Changed in this revision

--- a/main.cpp	Mon Apr 13 13:01:02 2015 +0000
+++ b/main.cpp	Mon Apr 13 13:19:24 2015 +0000
@@ -10,30 +10,29 @@
 AnalogIn sonar(p19);
 Mutex mutexIn;
 Mutex mutexOut;
- 
-AnalogIn p1(p19);
-AnalogIn p2(p20);
 
 // Global variables
 float corHoriz = 0; // horizontal variable arrives from OpenCV
 float corVert = 0; // vertical variable arrives from OpenCV
 float distance = 0;
-float outVert; // rr
+float outVert; // 
 float outTilt;
 float outHoriz;
 C12832 lcd(p5, p7, p6, p8, p11);// lcd is an object from class c12832 initialised by p5,p7....
 
 /* Thread Serial 1 - handles the output data from the control thread, and pass to the servo.
     @update s1, s2 */
-void serial_thread(void const *args) {
+void serial_thread(void const *args)
+{
     while (true) {
         pc.scanf("%f,%f", &corHoriz, &corVert);// read from serial port the data
     }
 }
- 
+
 /* Thread LCD 2 - handles the input data from the sonar sensor, and display on the LCD screen.
     @update inData */
-void lcd_thread(void const *args) {
+void lcd_thread(void const *args)
+{
     while (true) {
         // Display values on the LCD screen
         lcd.cls();          // clear the display
@@ -47,24 +46,35 @@
 
 /* Thread Control 3 - handles the input data from the sonar sensor, and display on the LCD screen.
     @update inData */
-void control_thread(void const *args) {
+void control_thread(void const *args)
+{
     while (true) {
         mutexIn.lock();
         float differ;
         differ = exp(corVert + sonar * outTilt) / (1 + exp(corVert + sonar * outTilt));
-        if (corVert > .5) { // check if face is below the half of the camera view
-            if (outTilt > .5) { // check if lamp head is facing down
-                // moves lamp down by the fraction of the difference from the middle
-            }
+        if (corVert > .45) { // check if face is below the half of the camera view
+            if (outTilt > .45) { // check if lamp head is facing down
+            // moves lamp down by the fraction of the difference from the middle
+                outVert = outVert + 
+                outTilt = outTilt + 
+            } else if (outTilt < .55) {  // check if lamp head is facing up
+                //
+            }           
+        } else if (corVert < .55) {
+           // moves lamp up by the fraction of the difference from the middle
         }
         mutexIn.unlock();
         Thread::wait(25);
     }
+    mutexIn.unlock();
+    Thread::wait(25);
+}
 }
 
 /* Thread Servo 4 - handles the output data from the control thread, and pass to the servo.
     @update s1, s2 */
-void servo_thread(void const *args) {
+void servo_thread(void const *args)
+{
     while (true) {
         mutexOut.lock();
         tiltServo = outTilt;
@@ -75,7 +85,8 @@
     }
 }
 
-int main() {
+int main()
+{
     Thread thread_1(serial_thread); // Start Serial Thread
     Thread thread_2(lcd_thread); // Start LCD Thread
     Thread thread_3(control_thread); // Start Servo Thread

--- a/main.cpp.orig	Mon Apr 13 13:01:02 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,92 +0,0 @@
-#include "mbed.h"
-#include "rtos.h"
-#include "Servo.h"
-#include "C12832.h"
-Servo sPan(p21);
-Servo sTilt(p22);
-Serial pc(USBTX, USBRX);
-Servo sVert(p23);
-Sonar distance(p24);
-Mutex mutexIn;
-Mutex mutexOut;
- 
-AnalogIn p1(p19);
-AnalogIn p2(p20);
-
-// Global variables
-float corHoriz; // horizontal variable arrives from OpenCV
-float corVert; // vertical variable arrives from OpenCV
-float distance; // distance measured by the sonar
-float outVert; // rr
-float outTilt;
-float outHoriz;
-C12832 lcd(p5, p7, p6, p8, p11);// lcd is an object from class c12832 initialised by p5,p7....
-
-/* Thread Serial 1 - handles the output data from the control thread, and pass to the servo.
-    @update s1, s2 */
-void serial_thread(void const *args) {
-    while (true) {
-        mutexIn.lock();
-      //  pc.gets(cordinates,4);
-     //   cordinates = pc.putc(pc.getc());
-         pc.scanf("%s \n %s \n ",corHoriz,corVert);// read from serial port the data
-        mutexIn.unlock();
-        Thread::wait(200);
-    }
-}
- 
-/* Thread LCD 2 - handles the input data from the sonar sensor, and display on the LCD screen.
-    @update inData */
-void lcd_thread(void const *args) {
-    while (true) {
-        mutexIn.lock();
-        mutexOut.lock();
-        // Display values on the LCD screen
-        lcd.cls();          // clear the display
-        lcd.locate(0,5);    // the location where you want your charater to be displayed
-        lcd.printf("Hor:%s",corHoriz);
-        lcd.locate(0,20);    // the location where you want your charater to be displayed
-        lcd.printf("Ver%s", corVert);
-        mutexIn.unlock();
-        mutexOut.unlock();
-        Thread::wait(25);
-    }
-}
-
-/* Thread Control 3 - handles the input data from the sonar sensor, and display on the LCD screen.
-    @update inData */
-void control_thread(void const *args) {
-    while (true) {
-        mutexIn.lock();
-        float differ;
-        differ = exp(corVert + sonar * outTilt) / (1 + exp(corVert + sonar * outTilt));
-        if (corVert > .5) { // check if face is below the half of the camera view
-            if (outTilt > .5) { // check if lamp head is facing down
-                // moves lamp down by the fraction of the difference from the middle
-        mutexIn.unlock();
-        Thread::wait(25);
-    }
-}
-
-/* Thread Servo 4 - handles the output data from the control thread, and pass to the servo.
-    @update s1, s2 */
-void servo_thread(void const *args) {
-    while (true) {
-        mutexOut.lock();
-        sTi1t = outTilt;
-        sPan = outHoriz;
-        sVert = outVert;
-        mutexOut.unlock();
-        Thread::wait(200);
-    }
-}
-
-int main() {
-    Thread thread_1(serial_thread); // Start Serial Thread
-    Thread thread_2(lcd_thread); // Start LCD Thread
-    Thread thread_3(control_thread); // Start Control Thread
-    Thread thread_4(servo_thread); // Start Servo Thread
-    while(1) {
-        Thread::wait(10);
-    }
-}