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INF2004_Project
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Working code 

Signed-off-by: linuxes_mojoworld@aleeas.com <linuxes_mojoworld@aleeas.com>
This commit is contained in:
linuxes_mojoworld@aleeas.com 2023-11-21 15:06:26 +08:00
parent ac9a3ccc7e
commit 7aa3ff6af3
1 changed files with 21 additions and 24 deletions
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43
frtos/rtos_car.c
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@ -33,6 +33,8 @@ 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;
set_wheel_direction(DIRECTION_FORWARD);
set_wheel_speed_synced(90u, car_struct);
for (;;) for (;;)
{ {
@ -40,24 +42,19 @@ motor_control_task(void *params)
switch (temp) switch (temp)
{ {
default: default:
set_wheel_direction(DIRECTION_FORWARD);
set_wheel_speed_synced(90u, car_struct);
distance_to_stop(car_struct, 50.f);
vTaskDelay(pdMS_TO_TICKS(3000));
break; break;
case 0b01: case 0b01:
car_struct->p_right_motor->speed.current_cms car_struct->p_right_motor->speed.distance_cm
+= SLOT_DISTANCE_CM * 1000.f; -= SLOT_DISTANCE_CM;
break; break;
case 0b10: case 0b10:
car_struct->p_right_motor->speed.current_cms car_struct->p_right_motor->speed.distance_cm
-= SLOT_DISTANCE_CM * 1000.f; += SLOT_DISTANCE_CM;
break; break;
case 0b11: case 0b11:
// set_wheel_direction(DIRECTION_MASK); turn(DIRECTION_LEFT, 90u, 90u, car_struct);
// set_wheel_speed_synced(0u, car_struct); set_wheel_direction(DIRECTION_FORWARD);
// vTaskDelay(pdMS_TO_TICKS(1000)); set_wheel_speed_synced(90u, car_struct);
// turn(DIRECTION_LEFT, 90u, 90u, car_struct);
break; break;
} }
@ -82,7 +79,7 @@ obs_task(void *params)
// set_wheel_speed_synced(90u, car_struct); // set_wheel_speed_synced(90u, car_struct);
// //
revert_wheel_direction(); revert_wheel_direction();
distance_to_stop(car_struct, 100.f); distance_to_stop(car_struct, 20.f);
} }
vTaskDelay(pdMS_TO_TICKS(50)); vTaskDelay(pdMS_TO_TICKS(50));
} }
@ -96,14 +93,14 @@ turn_task(void *params)
for (;;) for (;;)
{ {
set_wheel_direction(DIRECTION_FORWARD); set_wheel_direction(DIRECTION_FORWARD);
set_wheel_speed_synced(90u, car_struct); set_wheel_speed_synced(89u, car_struct);
distance_to_stop(car_struct, 50.f); distance_to_stop(car_struct, 20.f);
vTaskDelay(pdMS_TO_TICKS(1000)); vTaskDelay(pdMS_TO_TICKS(1000));
// turn_to_yaw(DIRECTION_LEFT, 230.f, 80u, car_struct); // turn_to_yaw(DIRECTION_LEFT, 230.f, 80u, car_struct);
turn(DIRECTION_RIGHT, 50.f, 90u, car_struct); turn(DIRECTION_RIGHT, 80.f, 90u, car_struct);
vTaskDelay(pdMS_TO_TICKS(1000)); vTaskDelay(pdMS_TO_TICKS(1000));
} }
} }
@ -175,13 +172,13 @@ main(void)
sleep_ms(1000u); sleep_ms(1000u);
// control task // control task
// TaskHandle_t h_motor_turning_task_handle = NULL; // TaskHandle_t h_motor_turning_task_handle = NULL;
// xTaskCreate(motor_control_task, // xTaskCreate(motor_control_task,
// "motor_turning_task", // "motor_turning_task",
// configMINIMAL_STACK_SIZE, // configMINIMAL_STACK_SIZE,
// (void *)&car_struct, // (void *)&car_struct,
// PRIO, // PRIO,
// &h_motor_turning_task_handle); // &h_motor_turning_task_handle);
// obs task // obs task
// TaskHandle_t h_obs_task_handle = NULL; // TaskHandle_t h_obs_task_handle = NULL;