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INF2004_Project
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test++++++

This commit is contained in:
Richie 2023-11-20 16:07:58 +08:00
parent 43a6330ad0
commit 2410104555
2 changed files with 46 additions and 23 deletions
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2
frtos/motor/motor_direction.h
View File

@ -100,7 +100,7 @@ turn_to_yaw(uint32_t direction,
} }
pp_car_struct->p_pid->use_pid = true; pp_car_struct->p_pid->use_pid = true;
vTaskDelay(pdMS_TO_TICKS(50)); vTaskDelay(pdMS_TO_TICKS(1000));
} }
/*! /*!

67
frtos/rtos_car.c
View File

@ -13,7 +13,12 @@ check_collision(void *params)
|| car_struct->obs->ultrasonic_detected; || car_struct->obs->ultrasonic_detected;
} }
bool /*!
* @brief Check if the car is on the line
* @param params
* @return
*/
uint8_t
check_line_touch(void *params) check_line_touch(void *params)
{ {
car_struct_t *car_struct = (car_struct_t *)params; car_struct_t *car_struct = (car_struct_t *)params;
@ -29,29 +34,47 @@ motor_control_task(void *params)
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);
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));
set_wheel_direction(DIRECTION_MASK);
set_wheel_speed_synced(0u, car_struct);
for (;;) for (;;)
; {
uint8_t temp = check_line_touch(car_struct);
switch (temp)
{
default:
continue;
case 0b01:
car_struct->p_right_motor->speed.current_cms
+= SLOT_DISTANCE_CM;
case 0b10:
car_struct->p_right_motor->speed.current_cms
-= SLOT_DISTANCE_CM;
case 0b11:
vTaskDelay(pdMS_TO_TICKS(1000));
turn(DIRECTION_LEFT, 90u, 90u, car_struct);
}
vTaskDelay(pdMS_TO_TICKS(50));
}
}
void
obs_task(void *params)
{
car_struct_t *car_struct = (car_struct_t *)params;
set_wheel_direction(DIRECTION_FORWARD);
set_wheel_speed_synced(90u, car_struct);
for (;;)
{
if (car_struct->obs->ultrasonic_detected)
{
turn(DIRECTION_LEFT, 180u, 90u, car_struct);
set_wheel_direction(DIRECTION_FORWARD);
set_wheel_speed_synced(90u, car_struct);
}
vTaskDelay(pdMS_TO_TICKS(50));
}
} }
void void