99 lines
2.4 KiB
C
99 lines
2.4 KiB
C
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#include "line_sensor_init.h"
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#include "ultrasonic_sensor.h"
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#include "car_config.h"
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#include "motor_init.h"
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bool
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check_collision(void *params)
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{
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car_struct_t *car_struct = (car_struct_t *)params;
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return car_struct->obs->line_detected || car_struct->obs->ultrasonic_detected;
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}
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void
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motor_control_task(void *params)
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{
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car_struct_t *car_struct = (car_struct_t *)params;
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for (;;)
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{
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printf("Collision: %d\n", check_collision(car_struct));
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if (check_collision(car_struct))
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{
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turn(DIRECTION_LEFT, 90, 80u, car_struct);
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// if (check_collision(car_struct))
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// {
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// turn(180, car_struct);
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//
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// if (check_collision(car_struct))
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// {
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// turn(90, car_struct);
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// }
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// }
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}
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else
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{
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set_wheel_direction(DIRECTION_FORWARD);
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set_wheel_speed_synced(90u, car_struct);
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}
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vTaskDelay(pdMS_TO_TICKS(5));
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}
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}
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int
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main(void)
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{
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stdio_usb_init();
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obs_t obs;
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motor_t motor_right;
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motor_t motor_left;
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motor_pid_t pid;
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direction_t direction;
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car_struct_t car_struct = { .p_right_motor = &motor_right,
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.p_left_motor = &motor_left,
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.p_pid = &pid,
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.obs = &obs,
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.p_direction = &direction};
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// ultra
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ultrasonic_init(&car_struct);
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ultrasonic_task_init(&car_struct);
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printf("Ultrasonic sensor initialized!\n");
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// line
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line_sensor_init(&car_struct);
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line_tasks_init(&car_struct);
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printf("Line sensor initialized!\n");
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//motor
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motor_init(&car_struct);
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motor_tasks_init(&car_struct, &h_wheel_sensor_isr_handler);
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printf("Motor initialized!\n");
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// Magnetometer
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magnetometer_init(&car_struct);
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// magnetometer_tasks_init(&car_struct);
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printf("Magnetometer initialized!\n");
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// control task
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TaskHandle_t h_motor_turning_task_handle = NULL;
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xTaskCreate(motor_control_task,
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"motor_turning_task",
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configMINIMAL_STACK_SIZE,
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(void *)&car_struct,
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PRIO,
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&h_motor_turning_task_handle);
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// PID timer
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struct repeating_timer pid_timer;
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add_repeating_timer_ms(-50, repeating_pid_handler, &car_struct, &pid_timer);
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vTaskStartScheduler();
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return (0);
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} |