void doTest(void)
{
rtems_status_code sc;
int pass, i;
sc = rtems_semaphore_create(
rtems_build_name('S', 'E', 'M', 'F'),
0,
TEST_SEMAPHORE_ATTRIBUTES,
0,
&semaphore);
directive_failed( sc, "semaphore create" );
for (i = 0 ; i < NTASK ; i++)
flags[i] = 0;
for (i = 0 ; i < NTASK ; i++)
starttask(i);
for (pass = 1 ; pass < 10 ; pass++) {
rtems_task_wake_after(1);
for (i = 0 ; i < NTASK ; i++) {
if (flags[i] != pass)
printf("flags[%d] = %d -- expected %d\n", i, flags[i], pass);
}
sc = rtems_semaphore_flush(semaphore);
directive_failed( sc, "semaphore flush" );
}
printf("Flushed all waiting tasks\n" );
}
void Scoremiddlegoal()
{ waitForButton();
starttask(CollectD);
{
drive_Enc(63,7,4);
}
stopdrivemotors();
StopTask(CollectD);
StartTask(medgoal);
{
stopTime(1.75);//wait for arm
drive_Enc(63,8,5);//drive foward
}
StopTask(medgoal);
spit(0.75);
drive_Enc(-63,4,2);
spit(0.75);
StartTask(armDown);
{
drive_Enc(-63,15,5);
}
StopTask(armDown);
waitForButton();
StartTask(CollectD);
{
drive_Enc(70,15,5);
}
StopTask(CollectD);
}
static pid_t
setup_dev (vfsmsg_t *msg) {
pid_t pid;
pid = createtask(TASK_PRIO_HIGH, PAGE_INVALID);
allocatestack(pid, DEFAULT_STACK_SIZE);
setuptask(pid, msg->mkdev.ask.driver, msg->mkdev.ask.args, NULL);
starttask(pid);
return pid;
}
rtems_task Init (rtems_task_argument ignored)
{
puts("*** START OF TEST 28 ***" );
test_errors();
test_multiple_taskvars();
test_delete_as_side_effect();
test_delete_from_other_task();
starttask (1);
starttask (2);
starttask (3);
test_out_of_memory();
rtems_task_suspend (RTEMS_SELF);
}
task main()
{
initializeRobot();
initialize_gyro();
starttask(process_gyro);
while(true)
{
nxtDisplayCenteredTextLine(3, "A gyro=%d", gyro.total/1000.0);
}
//move(1, 22.5);
//wait10Msec(500);
//move(-1,22.5);
//move forward, turn 45 degrees, move forward
//move(1, 24);
//wait10Msec(50);
//move(1, 0);
//turngyro_left(45.0, 50);
//move(1, 33.941);
}
