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test

This commit is contained in:
Richie 2023-11-20 11:24:11 +08:00
parent 1def053dc0
commit c0aa48b58b
3 changed files with 13 additions and 5 deletions
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7
frtos/motor/motor_direction.h
View File

@ -27,6 +27,13 @@ set_wheel_direction(uint32_t direction)
gpio_set_mask(direction); gpio_set_mask(direction);
} }
void
update_target_yaw(car_struct_t * pp_car_struct)
{
updateDirection(pp_car_struct->p_direction);
pp_car_struct->p_direction->target_yaw = pp_car_struct->p_direction->yaw;
}
/*! /*!
* @brief Set the direction of the wheel to opposite direction using bit mask * @brief Set the direction of the wheel to opposite direction using bit mask
*/ */

3
frtos/motor/motor_speed.h
View File

@ -101,9 +101,6 @@ set_wheel_speed(uint32_t pwm_level, motor_t *p_motor)
void void
set_wheel_speed_synced(uint32_t pwm_level, car_struct_t *pp_car_strut) set_wheel_speed_synced(uint32_t pwm_level, car_struct_t *pp_car_strut)
{ {
updateDirection(pp_car_strut->p_direction);
pp_car_strut->p_direction->target_yaw = pp_car_strut->p_direction->yaw;
set_wheel_speed(pwm_level, pp_car_strut->p_left_motor); set_wheel_speed(pwm_level, pp_car_strut->p_left_motor);
set_wheel_speed(pwm_level, pp_car_strut->p_right_motor); set_wheel_speed(pwm_level, pp_car_strut->p_right_motor);
} }

8
frtos/rtos_car.c
View File

@ -23,6 +23,9 @@ 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);
set_wheel_direction(DIRECTION_FORWARD);
set_wheel_speed_synced(90u, car_struct);
for (;;) for (;;)
{ {
// printf("Collision: %d\n", check_collision(car_struct)); // printf("Collision: %d\n", check_collision(car_struct));
@ -45,8 +48,6 @@ 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);
// } // }
set_wheel_direction(DIRECTION_FORWARD);
set_wheel_speed_synced(90u, car_struct);
vTaskDelay(pdMS_TO_TICKS(5)); vTaskDelay(pdMS_TO_TICKS(5));
} }
} }
@ -110,8 +111,11 @@ 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);
printf("Magnetometer initialized!\n"); printf("Magnetometer initialized!\n");
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,