110 lines
2.8 KiB
C
110 lines
2.8 KiB
C
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#include "motor_speed.h"
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#include "motor_direction.h"
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#include "motor_pid.h"
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#define WHEEL_SPEED_PRIO (tskIDLE_PRIORITY + 2UL)
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#define WHEEL_CONTROL_PRIO (tskIDLE_PRIORITY + 2UL)
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#define WHEEL_PID_PRIO (tskIDLE_PRIORITY + 2UL)
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static void
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motor_control_task(__unused void *p_param)
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{
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for (;;)
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{
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set_wheel_direction(DIRECTION_FORWARD);
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set_wheel_speed(3000u);
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distance_to_stop(30);
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set_wheel_direction(DIRECTION_BACKWARD);
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set_wheel_speed(3000u);
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distance_to_stop(30);
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turn_wheel(DIRECTION_LEFT);
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set_wheel_direction(DIRECTION_FORWARD);
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set_wheel_speed(3000u);
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distance_to_stop(30);
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turn_wheel(DIRECTION_RIGHT);
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set_wheel_direction(DIRECTION_FORWARD);
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set_wheel_speed(3000u);
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distance_to_stop(30);
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set_wheel_speed(0u);
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vTaskDelay(pdMS_TO_TICKS(3000));
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}
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}
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void
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launch()
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{
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// isr to detect right motor slot
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gpio_set_irq_enabled(SPEED_PIN_RIGHT, GPIO_IRQ_EDGE_FALL, true);
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gpio_add_raw_irq_handler(SPEED_PIN_RIGHT, h_wheel_sensor_isr_handler);
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// isr to detect left motor slot
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gpio_set_irq_enabled(SPEED_PIN_LEFT, GPIO_IRQ_EDGE_FALL, true);
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gpio_add_raw_irq_handler(SPEED_PIN_LEFT, h_wheel_sensor_isr_handler);
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irq_set_enabled(IO_IRQ_BANK0, true);
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// set_wheel_direction(DIRECTION_FORWARD);
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// set_wheel_speed(3000);
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// Left wheel
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//
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TaskHandle_t h_monitor_left_wheel_speed_task_handle = NULL;
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xTaskCreate(monitor_wheel_speed_task,
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"monitor_left_wheel_speed_task",
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configMINIMAL_STACK_SIZE,
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(void *)&g_motor_left,
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WHEEL_SPEED_PRIO,
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&h_monitor_left_wheel_speed_task_handle);
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// Right wheel
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//
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TaskHandle_t h_monitor_right_wheel_speed_task_handle = NULL;
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xTaskCreate(monitor_wheel_speed_task,
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"monitor_wheel_speed_task",
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configMINIMAL_STACK_SIZE,
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(void *)&g_motor_right,
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WHEEL_SPEED_PRIO,
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&h_monitor_right_wheel_speed_task_handle);
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TaskHandle_t h_motor_pid_right_task_handle = NULL;
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xTaskCreate(motor_pid_task,
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"motor_pid_task",
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configMINIMAL_STACK_SIZE,
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(void *)&g_motor_right,
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WHEEL_PID_PRIO,
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&h_motor_pid_right_task_handle);
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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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NULL,
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WHEEL_CONTROL_PRIO,
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&h_motor_turning_task_handle);
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vTaskStartScheduler();
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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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sleep_ms(4000);
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printf("Test started!\n");
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motor_init();
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launch();
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// for(;;);
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return (0);
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} |