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test++++

This commit is contained in:
Richie 2023-11-20 14:52:35 +08:00
parent f8f009dd39
commit 23bcfad64b
1 changed files with 28 additions and 27 deletions
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55
frtos/rtos_car.c
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@ -8,7 +8,8 @@ bool
check_collision(void *params) check_collision(void *params)
{ {
car_struct_t *car_struct = (car_struct_t *)params; car_struct_t *car_struct = (car_struct_t *)params;
return ((car_struct->obs->left_sensor_detected << 1) | (car_struct->obs->right_sensor_detected)) return ((car_struct->obs->left_sensor_detected << 1)
| (car_struct->obs->right_sensor_detected))
|| car_struct->obs->ultrasonic_detected; || car_struct->obs->ultrasonic_detected;
} }
@ -17,39 +18,39 @@ check_line_touch(void *params)
{ {
car_struct_t *car_struct = (car_struct_t *)params; car_struct_t *car_struct = (car_struct_t *)params;
return (car_struct->obs->left_sensor_detected << 1) | (car_struct->obs->right_sensor_detected); return (car_struct->obs->left_sensor_detected << 1)
| (car_struct->obs->right_sensor_detected);
} }
void void
motor_control_task(void *params) motor_control_task(void *params)
{ {
car_struct_t *car_struct = (car_struct_t *)params; car_struct_t *car_struct = (car_struct_t *)params;
update_target_yaw(car_struct->p_direction);
set_wheel_direction(DIRECTION_FORWARD); set_wheel_direction(DIRECTION_FORWARD);
set_wheel_speed_synced(90u, car_struct); set_wheel_speed_synced(90u, car_struct);
distance_to_stop(car_struct, 17);
vTaskDelay(pdMS_TO_TICKS(1000));
turn(DIRECTION_LEFT, 90, 90u, car_struct);
vTaskDelay(pdMS_TO_TICKS(1000));
set_wheel_direction(DIRECTION_FORWARD);
set_wheel_speed_synced(90u, car_struct);
distance_to_stop(car_struct, 17);
vTaskDelay(pdMS_TO_TICKS(1000));
turn(DIRECTION_RIGHT, 90, 90u, car_struct);
set_wheel_direction(DIRECTION_FORWARD);
set_wheel_speed_synced(90u, car_struct);
distance_to_stop(car_struct, 17);
vTaskDelay(pdMS_TO_TICKS(1000));
set_wheel_direction(DIRECTION_MASK);
set_wheel_speed_synced(0u, car_struct);
for (;;) for (;;)
{ ;
// printf("Collision: %d\n", check_collision(car_struct));
// if (check_collision(car_struct))
// {
// turn(DIRECTION_LEFT, 90, 80u, car_struct);
//
//// if (check_collision(car_struct))
//// {
//// turn(180, car_struct);
////
//// if (check_collision(car_struct))
//// {
//// turn(90, car_struct);
//// }
//// }
// }
// else
// {
// set_wheel_direction(DIRECTION_FORWARD);
// set_wheel_speed_synced(90u, car_struct);
// }
vTaskDelay(pdMS_TO_TICKS(5));
}
} }
void void
@ -110,7 +111,7 @@ main(void)
// Magnetometer // Magnetometer
magnetometer_init(&car_struct); magnetometer_init(&car_struct);
// magnetometer_tasks_init(&car_struct); magnetometer_tasks_init(&car_struct);
updateDirection(car_struct.p_direction); updateDirection(car_struct.p_direction);
printf("Magnetometer initialized!\n"); printf("Magnetometer initialized!\n");