void UserMain( void * pd )
{
initWithWeb();
Nunchuck_Init(); // FIXME
LLInit(1);
TheWSHandler = MyDoWSUpgrade;
stepper.Init();
ConfigureStepper( &stepper, 1 );
stepSpeed = 100;
stepDir = 1;
StartStepper( 1, stepDir, stepSpeed );
stepForever = true;
OSSemInit( &SockReadySem, 0 );
OSCritInit( &I2CLock );
iprintf("Application: %s\r\nNNDK Revision: %s\r\n",AppName,GetReleaseTag());
OSTimeDly(2);
OSSimpleTaskCreate(ReportTask, 5);
OSSimpleTaskCreate(InputTask, MAIN_PRIO-1);
OSSimpleTaskCreate(RangingTask, 2);
EnableEncoder(EncodeStep, ButtonChange, ButtonDoubleClick );
ClearTaskTimes();
SMPoolPtr pp;
while(1) {
fd_set error_fds;
FD_ZERO( &error_fds );
OSCritEnter( &I2CLock, 0 );
nun.Update();
OSCritLeave( &I2CLock );
serv_x.SetPos(nun.stick.x);
serv_y.SetPos(nun.stick.y);
// iprintf("%lu\na_x: %4.4d - a_y: %4.4d - a_z: %4.4d\ns_x: %3.3d - s_y: %3.3d - b_z: %d - b_c: %d\n\n",
// TimeTick, nun.accel.x, nun.accel.y, nun.accel.z,
// nun.stick.x, nun.stick.y,
// nun.button.z, nun.button.c);
// iprintf("range: %u\n", lidarRange);
if (ws_fd > 0){
SendConfigReport(ws_fd);
}
}
}
