/**
* Initiate linefollowing to the next station
*/
void drive_to_next(void)
{
set_sensor_to_linefollowing();
scan_count = 0;
_delay_ms(50);
enable_timer_interrupts();
}
/* si_kernel_init: initialise real-time kernel */
void si_kernel_init(void)
{
/* task_id for idle task */
int task_id_idle;
/* kernel is not running yet */
Kernel_Running = 0;
/* initialise task module */
task_init();
/* initialise ready list */
ready_list_init();
/* disable interrupts. The interrupts will be
enabled when the first task starts */
DISABLE_INTERRUPTS;
/* initialise tick handler */
tick_handler_init();
/* initialise time list */
time_list_init();
/* initialise time storage */
time_storage_init();
/* create idle task */
task_id_idle = task_create(idle_task,
&Idle_Stack[IDLE_STACK_SIZE-1],
IDLE_PRIORITY);
/* identify the idle task */
task_set_idle_task(idle_task);
/* and insert it into the ready list */
ready_list_insert(task_id_idle);
int_status_init();
setup_int_handler();
enable_timer_interrupts();
}
/**
* To be able to follow the line
*
* @param curr_error The error from the line
*/
void drive(int8_t curr_error)
{
// Update steering with new PD value
update_steering(pd_update(curr_error), STEERING_MAX_SPEED);
enable_timer_interrupts();
}
