robot arm demo team / Mbed 2 deprecated RobotArmDemo Featured

demo project

Dependencies:   AX-12A Dynamixel mbed iothub_client EthernetInterface NTPClient ConfigFile SDFileSystem iothub_amqp_transport mbed-rtos proton-c-mbed wolfSSL

main.cpp@33:8b9dcbf6d8ec, 2016-02-04 (annotated)

Committer:
henryrawas
Date:
Thu Feb 04 20:10:33 2016 +0000
Revision:
33:8b9dcbf6d8ec
Parent:
27:4239713d9690 
update libs

Who changed what in which revision?

UserRevisionLine numberNew contents of line
henryrawas 19:2f0ec9ac1238 1 // Copyright (c) Microsoft. All rights reserved.
henryrawas 19:2f0ec9ac1238 2 // Licensed under the MIT license. See LICENSE file in the project root for full license information.
henryrawas 19:2f0ec9ac1238 3
jepickett 0:547ac906c46b 4 #include "mbed.h"
henryrawas 4:36a4eceb1b7f 5 #include "rtos.h"
henryrawas 4:36a4eceb1b7f 6
henryrawas 27:4239713d9690 7 #include "mbed/logging.h"
henryrawas 27:4239713d9690 8
henryrawas 27:4239713d9690 9 #include "RobotArmCfg.h"
henryrawas 18:224289104fc0 10 #include "ControllerIo.h"
henryrawas 7:6723f6887d00 11
henryrawas 13:ffeff9b5e513 12 extern void PrepareController();
henryrawas 7:6723f6887d00 13 extern void RunController();
henryrawas 7:6723f6887d00 14 extern bool StartIothubThread();
henryrawas 4:36a4eceb1b7f 15
jepickett 0:547ac906c46b 16
jepickett 0:547ac906c46b 17 int main()
jepickett 0:547ac906c46b 18 {
henryrawas 27:4239713d9690 19 mbed_log_init();
henryrawas 27:4239713d9690 20
henryrawas 26:6def77499117 21 printf("**********************\r\n");
henryrawas 26:6def77499117 22 printf("RobotArmDemo start\r\n");
henryrawas 26:6def77499117 23 printf("**********************\r\n");
jepickett 2:37021fb3b45b 24
henryrawas 10:9b21566a5ddb 25 ShowLedGreen();
henryrawas 4:36a4eceb1b7f 26
henryrawas 27:4239713d9690 27 ReadConfigValues();
henryrawas 27:4239713d9690 28
henryrawas 13:ffeff9b5e513 29 // prepare the motion sequences
henryrawas 13:ffeff9b5e513 30 PrepareController();
henryrawas 13:ffeff9b5e513 31
henryrawas 4:36a4eceb1b7f 32 // start IotHub connection
henryrawas 4:36a4eceb1b7f 33 StartIothubThread();
jepickett 2:37021fb3b45b 34
henryrawas 4:36a4eceb1b7f 35 // time delay is to allow the position encoders to come online after initial power supply event ~ 5 secs
henryrawas 24:f6aa0e64c5e1 36 Thread::wait(5000);
henryrawas 4:36a4eceb1b7f 37
henryrawas 26:6def77499117 38 printf("Initialization done. Ready to run. \r\n");
jepickett 2:37021fb3b45b 39
henryrawas 13:ffeff9b5e513 40 // try running this thread at a higher priority
henryrawas 13:ffeff9b5e513 41 osThreadId maintid = osThreadGetId();
henryrawas 13:ffeff9b5e513 42 osThreadSetPriority(maintid, osPriorityHigh);
henryrawas 13:ffeff9b5e513 43
henryrawas 7:6723f6887d00 44 RunController();
henryrawas 4:36a4eceb1b7f 45 }