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tasks working now

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This commit is contained in:
99cardz 2024-01-10 15:56:26 +01:00
parent 5a731e5fa4
commit fb3b4211d5
1 changed files with 22 additions and 9 deletions
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31
src/motion/Motion.cpp
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@ -11,6 +11,10 @@
#include "Motion.h" #include "Motion.h"
TaskHandle_t xMoveTaskHandle = NULL;
TaskHandle_t xClockwiseTaskHandle = NULL;
TaskHandle_t xAntiClockwiseTaskHandle = NULL;
// Constructor // Constructor
Motion::Motion() { Motion::Motion() {
@ -20,31 +24,40 @@ Motion::Motion() {
void Motion::begin(void) { void Motion::begin(void) {
} }
void moveTask(void * moveForMs) { void moveTask(void * args) {
analogWrite(MOTOR_LEFT_PIN, 128); analogWrite(MOTOR_LEFT_PIN, 128);
analogWrite(MOTOR_RIGHT_PIN, 128); analogWrite(MOTOR_RIGHT_PIN, 128);
vTaskDelay((uint32_t) moveForMs); vTaskDelay((uint32_t) args / portTICK_PERIOD_MS);
analogWrite(MOTOR_LEFT_PIN, 0); analogWrite(MOTOR_LEFT_PIN, 0);
analogWrite(MOTOR_RIGHT_PIN, 0); analogWrite(MOTOR_RIGHT_PIN, 0);
vTaskDelete(xMoveTaskHandle);
} }
// Move forward for a certain amount of time. // Move forward for a certain amount of time.
void Motion::move(uint32_t moveForMs) { void Motion::move(uint32_t moveForMs) {
xTaskCreate(moveTask, "Move", configMINIMAL_STACK_SIZE, (void*)moveForMs, 1, NULL); xTaskCreate(moveTask, "Move", 4096, (void*)moveForMs, 10, &xMoveTaskHandle);
// analogWrite(MOTOR_LEFT_PIN, 128);
// analogWrite(MOTOR_RIGHT_PIN, 128);
// vTaskDelay(moveForMs);
// analogWrite(MOTOR_LEFT_PIN, 0);
// analogWrite(MOTOR_RIGHT_PIN, 0);
} }
void leftMotorTask(void * args) {
analogWrite(MOTOR_LEFT_PIN, 128);
vTaskDelay((uint32_t) args / portTICK_PERIOD_MS);
analogWrite(MOTOR_LEFT_PIN, 0);
vTaskDelete(xClockwiseTaskHandle);
}
// Rotate clockwise for a certain amount of time. // Rotate clockwise for a certain amount of time.
void Motion::rotateClockwise(uint32_t rotateForMs) { void Motion::rotateClockwise(uint32_t rotateForMs) {
xTaskCreate(leftMotorTask, "LeftMotor", 4096, (void*)rotateForMs, 10, &xClockwiseTaskHandle);
}
void rightMotorTask(void * args) {
analogWrite(MOTOR_RIGHT_PIN, 128);
vTaskDelay((uint32_t) args / portTICK_PERIOD_MS);
analogWrite(MOTOR_RIGHT_PIN, 0);
vTaskDelete(xAntiClockwiseTaskHandle);
} }
// Rotate anticlockwise for a certain amount of time. // Rotate anticlockwise for a certain amount of time.
void Motion::rotateAnticlockwise(uint32_t rotateForMs) { void Motion::rotateAnticlockwise(uint32_t rotateForMs) {
xTaskCreate(rightMotorTask, "RightMotor", 4096, (void*)rotateForMs, 10, &xAntiClockwiseTaskHandle);
} }