void main( void )
{
int k = 0;
WDTCTL = WDTPW + WDTHOLD;
XT2_Init ();
GPIO_Init ();
P10DIR |= BIT6;
Init_timer_interrupt_10ms();
Run_timer_interrupt();
__enable_interrupt();
LCD_InitSPI();
LCD_Settings();
LCD_Clear();
while(1) {
if (testInterrupt()){
LCD_FillArea(0,20,0,20,arrColor[(k++)%5]);
P10OUT ^= BIT6;
resetInterruptCounter();
}
}
}
void PlayDrillCommandClass::execute()
{
if (IsExecuting())
{
LOGF("SKIPPING PlayDrill command");
return;
}
parse();
LogSteps();
StopCommandClass::reset();
PauseCommandClass::reset();
resetInterruptCounter();
LOGF("=========== Initializing Bumper ==========");
bumperOn(true/*resetCounter*/);
LOGF("=========== Play Drill ==========");
s_pExecutedDrill = this;
bool bContinue= true;
char pref[10];
while (true)
{
// handle incoming commands
executeCommands();
if (StopCommandClass::IsStopped())
{
m_execData.error= false;
m_execData.feedData.result=MotorHelperClass::FR_NONE;
break;
}
else if (PauseCommandClass::IsPaused())
{
static unsigned long s_LedSetTime= 0;
static bool s_yellowLed= false;
unsigned long currentTime= millis();
if (currentTime - s_LedSetTime >= 250) {
if (s_yellowLed) {
Helper::setLedColor(0,0,255); // turn the RGB LED blue
}
else {
Helper::setLedColor(255,215,0); // turn the RGB LED yellow
}
s_LedSetTime= currentTime;
s_yellowLed= !s_yellowLed;
}
g_motorHelper.stopMotorsIfIdle();
}
else
{
Step* pStep= NULL;
for (int stepIndex= 0; stepIndex < m_Steps.getUsedElems(); ++stepIndex)
{
if (m_execData.nextStepIndex > 0) {
// goto
stepIndex= m_execData.nextStepIndex - 1; // 1-based
m_execData.nextStepIndex= -1;
}
pStep= m_Steps[stepIndex];
LOGF3("============ Executing Step [", stepIndex+1, F("] ============"));
bContinue= pStep->execute(m_execData);
// handle incoming commands
executeCommands();
if (StopCommandClass::IsStopped())
{
m_execData.error= false;
m_execData.feedData.result=MotorHelperClass::FR_NONE;
bContinue= false;
}
else if (PauseCommandClass::IsPaused())
{
g_motorHelper.stopMotorsIfIdle();
break;
}
if (!bContinue)
break;
g_TaskQueue.executeReadyTasks();
}
if (!bContinue)
break;
}
} // EOF while(true)
g_motorHelper.stopMotors();
s_pExecutedDrill = NULL;
bumperOff();
g_serialCom.fireEvent(EVENT_EXECUTE_STOPPED);
// in case of error no sound
if (!m_execData.error)
{
Helper::playSound(Helper::SND_FINISHED);
}
}
