static void DriveTask(void *pvParameters) { portTickType xLastWakeTime; (void)pvParameters; xLastWakeTime = xTaskGetTickCount(); for(;;) { while (GetCmd()==ERR_OK) { /* returns ERR_RXEMPTY if queue is empty */ /* process incoming commands */ } TACHO_CalcSpeed(); if (DRV_Status.mode==DRV_MODE_SPEED) { PID_Speed(TACHO_GetSpeed(TRUE), DRV_Status.speed.left, TRUE); PID_Speed(TACHO_GetSpeed(FALSE), DRV_Status.speed.right, FALSE); } else if (DRV_Status.mode==DRV_MODE_STOP) { PID_Speed(TACHO_GetSpeed(TRUE), 0, TRUE); PID_Speed(TACHO_GetSpeed(FALSE), 0, FALSE); } else if (DRV_Status.mode==DRV_MODE_POS) { PID_Pos(Q4CLeft_GetPos(), DRV_Status.pos.left, TRUE); PID_Pos(Q4CRight_GetPos(), DRV_Status.pos.right, FALSE); } else if (DRV_Status.mode==DRV_MODE_NONE) { /* do nothing */ } FRTOS1_vTaskDelayUntil(&xLastWakeTime, 5/portTICK_RATE_MS); } /* for */ }
static portTASK_FUNCTION(DriveTask, pvParameters) { (void)pvParameters; /* parameter not used */ bool prevOnS, prevOnP; uint32_t i; int32_t PosL,PosR; uint32_t dL,dR; uint32_t sL,sR; //traceLabel usrEvent; prevOnS = DRV_SpeedOn; prevOnP = DRV_PosOn; sL = 30000; sR = 30000; #if PL_HAS_RTOS_TRACE //usrEvent = xTraceOpenLabel("drive"); #endif for(;;) { #if PL_HAS_RTOS_TRACE //RTOSTRC1_vTraceUserEvent(usrEvent); #endif /*! \todo extend this for your own needs and with a position PID */ TACHO_CalcSpeed(); if (prevOnS && !DRV_SpeedOn) { /* speed turned off */ MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_LEFT), 0); MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_RIGHT), 0); PID_Start(); /* reset values */ } else if (DRV_SpeedOn && !DRV_PosOn) { /*speed control*/ PID_Speed(TACHO_GetSpeed(TRUE), DRV_SpeedLeft, TRUE); /* left */ PID_Speed(TACHO_GetSpeed(FALSE), DRV_SpeedRight, FALSE); /* right */ } else if (DRV_PosOn && !DRV_SpeedOn) { /*pos control*/ PosL = Q4CLeft_GetPos(); PosR = Q4CRight_GetPos(); dL = ((PosL-DRV_PosLeft)<=0) ? -(PosL-DRV_PosLeft) : (PosL-DRV_PosLeft); dR = ((PosR-DRV_PosRight)<=0) ? -(PosR-DRV_PosRight) : (PosR-DRV_PosRight); if(dL>100){ if((DRV_PosLeft-PosL)>0){ sL += 15; } else{ sL -= 15; } } else{ sL = DRV_PosLeft; } if(dR>100){ if((DRV_PosRight-PosR)>0){ sR += 15; } else{ sR -= 15; } } else{ sR = DRV_PosRight; } PID_Pos(PosL, sL, TRUE); //left PID_Pos(PosR, sR, FALSE); //right if((PosR < 1000) || (PosR > 63000)){ /*range safety*/ DRV_PosRight = 30000; Q4CRight_SetPos(30000); } if((PosL < 1000) || (PosL > 63000)){ DRV_PosLeft = 30000; Q4CLeft_SetPos(30000); } } else if(prevOnP && !DRV_PosOn){ /*pos turned off*/ MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_LEFT), 0); MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_RIGHT), 0); for(i=0;i<100000;i++); DRV_PosLeft = 30000; DRV_PosRight = 30000; Q4CLeft_SetPos(30000); Q4CRight_SetPos(30000); } prevOnS = DRV_SpeedOn; prevOnP = DRV_PosOn; FRTOS1_vTaskDelay(2/portTICK_RATE_MS); } /* for */ }