From e42058bb82f6d111c284cd129f2253fccd052e14 Mon Sep 17 00:00:00 2001
From: 99cardz <jonathan.schulze.de@gmail.com>
Date: Mon, 8 Jan 2024 16:26:56 +0100
Subject: [PATCH] experimenting with xTaskCreate

---
 src/Dezibot.cpp       | 54 +------------------------------------------
 src/motion/Motion.cpp | 12 ++++++----
 2 files changed, 9 insertions(+), 57 deletions(-)

diff --git a/src/Dezibot.cpp b/src/Dezibot.cpp
index 3285444..38eb327 100644
--- a/src/Dezibot.cpp
+++ b/src/Dezibot.cpp
@@ -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();
 }
\ No newline at end of file
diff --git a/src/motion/Motion.cpp b/src/motion/Motion.cpp
index 028aed3..d4c0113 100644
--- a/src/motion/Motion.cpp
+++ b/src/motion/Motion.cpp
@@ -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) {