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experimenting with xTaskCreate

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This commit is contained in:
99cardz 2024-01-08 16:26:56 +01:00
parent f2253a7cb5
commit e42058bb82
2 changed files with 9 additions and 57 deletions
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54
src/Dezibot.cpp
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@ -26,57 +26,5 @@ Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
#define GPIO_LED 48
void Dezibot::begin(void) {
Adafruit_NeoPixel ledStrip = Adafruit_NeoPixel(3, GPIO_LED, NEO_GRB + NEO_KHZ800);
Wire.begin(1, 2);
if (!display.begin(SSD1306_SWITCHCAPVCC, SCREEN_ADDRESS)) {
Serial.println("SSD1306 allocation failed");
for (;;); // Don't proceed, loop forever
}
display.display();
vTaskDelay(2000);
display.clearDisplay();
vTaskDelay(2000);
// Draw a single pixel in white
display.drawPixel(10, 10, SSD1306_WHITE);
// Show the display buffer on the screen. You MUST call display() after
// drawing commands to make them visible on screen!
display.display();
vTaskDelay(2000);
Serial.begin(9600);
Serial.println("start");
vTaskDelay(1000);
while (1) {
/* Blink off (output low) */
ledStrip.setPixelColor(1, ledStrip.Color(100, 100, 100));
ledStrip.show(); // Aktualisiere die Farbe des Pixels
vTaskDelay(1000);
/* Blink on (output high) */
ledStrip.setPixelColor(1, ledStrip.Color(0, 0, 0));
ledStrip.show(); // Aktualisiere die Farbe des Pixels
vTaskDelay(1000);
struct timeval tv_now;
gettimeofday(&tv_now, NULL);
int64_t time_us = (int64_t) tv_now.tv_sec * 1000000L + (int64_t) tv_now.tv_usec;
Serial.println(time_us);
display.clearDisplay();
display.setTextSize(2); // Draw 2X-scale text
display.setTextColor(SSD1306_WHITE);
display.setCursor(10, 0);
display.println(F("scroll"));
display.display(); // Show initial text
vTaskDelay(1000);
}
motion.begin();
}

12
src/motion/Motion.cpp
View File

@ -20,16 +20,20 @@ Motion::Motion() {
void Motion::begin(void) {
}
// Move forward for a certain amount of time.
void Motion::move(uint32_t moveForMs) {
void moveTask(void * moveForMs) {
analogWrite(MOTOR_LEFT_PIN, 128);
analogWrite(MOTOR_RIGHT_PIN, 128);
vTaskDelay(moveForMs);
vTaskDelay((uint32_t) moveForMs);
analogWrite(MOTOR_LEFT_PIN, 0);
analogWrite(MOTOR_RIGHT_PIN, 0);
}
// Move forward for a certain amount of time.
void Motion::move(uint32_t moveForMs) {
xTaskCreate(moveTask, "Move", configMINIMAL_STACK_SIZE, (void*)moveForMs, 1, NULL);
}
// Rotate clockwise for a certain amount of time.
void Motion::rotateClockwise(uint32_t rotateForMs) {