/****************************************************************************
Function
InitEncoderService
Parameters
uint8_t : the priorty of this service
Returns
bool, false if error in initialization, true otherwise
Description
Saves away the priority, initializes TIVA pins, sets up init capture,
starts RPM timer
****************************************************************************/
bool InitEncoderService ( uint8_t Priority )
{
ES_Event ThisEvent;
MyPriority = Priority;
// Setup init capture
InitInputCapturePeriod( );
// Setup periodic timer
InitPeriodicInt( );
// Start RPM timer
ES_Timer_InitTimer(RPMtimer, RPMtime);
// Post the initial transition event
ThisEvent.EventType = ES_INIT;
if (ES_PostToService( MyPriority, ThisEvent) == true)
{
return true;
}else
{
return false;
}
}
//Takes a priority number, returns True.
bool InitializeControlService(uint8_t Priority)
{
//Initialize the MyPriority variable with the passed in parameter.
MyPriority = Priority;
puts("Finished_Initialize_Control_Service\n\r");
InitPWM();
InitInputCapturePeriod1();
InitInputCapturePeriod2();
InitPeriodicInt();
InitLoadPWM();
//InitShootPWM();
InitAlignInputCapture();
InitUltraInputCapture();
// ES_Event NewEvent;
// NewEvent.EventType = RobotStopped;
// PostRobotSM(NewEvent);
return true;
}
