WIT_EmbOS_Gr1 / Mbed 2 deprecated rtos_basic_updated

updated codes lads

Dependencies:   C12832 Servo mbed-rtos mbed

Fork of rtos_basic_team by WIT_EmbOS_Gr1

main.cpp@10:372c5d608b5c, 2015-01-29 (annotated)

Committer:
Soldier7
Date:
Thu Jan 29 12:55:44 2015 +0000
Revision:
10:372c5d608b5c
Parent:
9:f60eeadabcb0 
Added comments for more understanding (at least for me :)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
emilmont 1:491820ee784d 1 #include "mbed.h"
emilmont 1:491820ee784d 2 #include "rtos.h"
PaulF 7:c8e192e2c80c 3 #include "Servo.h"
Ali_taher 8:507111cc659c 4 #include "C12832.h"
Soldier7 10:372c5d608b5c 5
Soldier7 10:372c5d608b5c 6 Servo s1(p21);
PaulF 7:c8e192e2c80c 7 Servo s2(p22);
Soldier7 10:372c5d608b5c 8 AnalogIn p1(p17); // Sonar sensor 1
Soldier7 10:372c5d608b5c 9 //AnalogIn p2(p20); // Sonar sensor 2 (not used yet)
Soldier7 10:372c5d608b5c 10 Mutex dataIn_mutex;
Ali_taher 9:f60eeadabcb0 11 Mutex dataOut_mutex;
Ali_taher 9:f60eeadabcb0 12
Soldier7 10:372c5d608b5c 13 // Global variables
Ali_taher 9:f60eeadabcb0 14 float input_data;
Ali_taher 9:f60eeadabcb0 15 float output_data;
Soldier7 10:372c5d608b5c 16 C12832 lcd(p5, p7, p6, p8, p11); // lcd is an object from class C12832 initialised by p5,p7....
Ali_taher 9:f60eeadabcb0 17
Soldier7 10:372c5d608b5c 18 /* Thread Sonar - handles the input data from the sonar sensor, and display on the LCD screen.
Soldier7 10:372c5d608b5c 19 @update input_data
Soldier7 10:372c5d608b5c 20 */
Soldier7 10:372c5d608b5c 21 void sonar_thread(void const *args)
Soldier7 10:372c5d608b5c 22 {
Ali_taher 9:f60eeadabcb0 23 while (true) {
Soldier7 10:372c5d608b5c 24 dataIn_mutex.lock();
Soldier7 10:372c5d608b5c 25 // Read the sensor and assign to input_data global variable
Soldier7 10:372c5d608b5c 26 input_data= p1.read()*5;
Soldier7 10:372c5d608b5c 27 // Display the input_data
Soldier7 10:372c5d608b5c 28 lcd.cls(); // clear the display
Soldier7 10:372c5d608b5c 29 lcd.locate(0,3);// the location where you want your charater to be displayed
Soldier7 10:372c5d608b5c 30 lcd.printf("Thread one = %f\n", input_data);
Soldier7 10:372c5d608b5c 31 // Handles the thread
Soldier7 10:372c5d608b5c 32 dataIn_mutex.unlock();
Soldier7 10:372c5d608b5c 33 Thread::wait(25);
Ali_taher 9:f60eeadabcb0 34 }
Ali_taher 9:f60eeadabcb0 35 }
Soldier7 10:372c5d608b5c 36
Soldier7 10:372c5d608b5c 37 /* Thread Control - */
Soldier7 10:372c5d608b5c 38 void control_thread(void const *args)
Soldier7 10:372c5d608b5c 39 {
emilmont 1:491820ee784d 40 while (true) {
Soldier7 10:372c5d608b5c 41 dataIn_mutex.lock();
Soldier7 10:372c5d608b5c 42 // Modification on the input_data and assign to servo2
Soldier7 10:372c5d608b5c 43 if (input_data>0.8) {
Ali_taher 9:f60eeadabcb0 44 s2=input_data*0.2;
Soldier7 10:372c5d608b5c 45 } else if(input_data<0.8) {
Ali_taher 9:f60eeadabcb0 46 s2=-input_data*0.5;
Soldier7 10:372c5d608b5c 47 }
Soldier7 10:372c5d608b5c 48 // Assign input_data to servo1 without modification
Soldier7 10:372c5d608b5c 49 s1=input_data;
Soldier7 10:372c5d608b5c 50 // Handles the thread
Soldier7 10:372c5d608b5c 51 dataIn_mutex.unlock();
Soldier7 10:372c5d608b5c 52 Thread::wait(20);
emilmont 1:491820ee784d 53 }
emilmont 1:491820ee784d 54 }
Soldier7 10:372c5d608b5c 55
Soldier7 10:372c5d608b5c 56 /* Main method - Start threads and delay them by waiting. */
Soldier7 10:372c5d608b5c 57 int main()
Soldier7 10:372c5d608b5c 58 {
Soldier7 10:372c5d608b5c 59 Thread thread(sonar_thread); // Start Sonar Thread
Soldier7 10:372c5d608b5c 60 Thread thread_1(control_thread); // Start Control Thread
Soldier7 10:372c5d608b5c 61 // Delay the threads
emilmont 1:491820ee784d 62 while (true) {
Soldier7 10:372c5d608b5c 63 Thread::wait(10);
emilmont 1:491820ee784d 64 }
Soldier7 10:372c5d608b5c 65 }