void system_Process_System_State(void) { switch (system_GetState()) { case SYSTEM_POWER_UP: break; case SYSTEM_INITIALIZE: break; case SYSTEM_CALIB_SENSOR: break; case SYSTEM_SAVE_CALIB_SENSOR: break; case SYSTEM_ESTIMATE_MOTOR_MODEL: ProcessSpeedControl(); break; case SYSTEM_SAVE_MOTOR_MODEL: break; case SYSTEM_WAIT_TO_RUN: break; case SYSTEM_RUN_SOLVE_MAZE: pid_Wallfollow_process(); ProcessSpeedControl(); break; case SYSTEM_RUN_IMAGE_PROCESSING: LED1_ON(); ProcessSpeedControl(); break; case SYSTEM_ERROR: speed_Enable_Hbridge(false); system_Enable_BoostCircuit(false); IntMasterDisable(); while (1) { LED1_ON(); LED2_ON(); LED3_ON(); ROM_SysCtlDelay(ROM_SysCtlClockGet() / 3); LED1_OFF(); LED2_OFF(); LED3_OFF(); ROM_SysCtlDelay(ROM_SysCtlClockGet() / 3); } // break; } }
void system_Process_System_State(void) { switch (system_GetState()) { case SYSTEM_POWER_UP: break; case SYSTEM_INITIALIZE: break; case SYSTEM_ESTIMATE_MOTOR_MODEL: break; case SYSTEM_SAVE_MOTOR_MODEL: break; case SYSTEM_WAIT_TO_RUN: break; case SYSTEM_RUN_BALANCE: loop(); break; case SYSTEM_RUN_IMAGE_PROCESSING: LED1_ON(); break; case SYSTEM_ERROR: speed_Enable_Hbridge(false); system_Enable_BoostCircuit(false); IntMasterDisable(); while (1) { LED1_ON(); LED2_ON(); LED3_ON(); ROM_SysCtlDelay(ROM_SysCtlClockGet() / 3); LED1_OFF(); LED2_OFF(); LED3_OFF(); ROM_SysCtlDelay(ROM_SysCtlClockGet() / 3); } } }