/** \brief This is the task function for the master task.
* \details This function decides which state the system is in, based on the previous
* state, and the current values of certain shared variables. The seven possible
* system states are as follows:
*
* AWAITING_CAL - Awaiting Calibration - The system is waiting for the user to
* press the target set button, to initialize the zero reference position.
* Motor power: 0
*
* CALIBRATION - Calibration State - The user is holding the target set button,
* and controlling the mirror array with the joystick. Once the mirror array is
* in the zero reference position, the user can release the button.
* Motor power: Joystick ADC Reading
*
* AWAITING_TARG - Awaiting Target - The system is waiting for the user to
* press the target set button, to initialize the first target.
* Motor power: 0
*
* SELECT_TARG - Target Selection - The user is holding the target set button,
* and controlling the mirror array with the joystick. Once the sun is correctly
* being redirected to the target, the user can release the button.
* Motor power: Joystick ADC Reading
*
* TRACK_TARG - The mirror array is actively tracking the sun, and redirecting
* the beam of light to the target.
* Motor power: PI controller
*
* ERROR - The safety task has decided that an error has occurred, and the motors
* are powered down in response.
* Motor power: 0
*
* IDLE - state which allows the user to reset the system from the ERROR state to
* the SELECT_TARG state.
* Motor power: 0
*/
void task_master(void* pvParameters){
state_SHARED = AWAITING_CAL;
uint8_t btn = 0;
uint8_t error = 0;
while(!btn)
{
vTaskDelay(configMS_TO_TICKS (200));
taskENTER_CRITICAL();
state_SHARED = AWAITING_CAL;
btn = btn_SHARED;
taskEXIT_CRITICAL();
}
while(btn)
{
vTaskDelay(configMS_TO_TICKS (200));
taskENTER_CRITICAL();
state_SHARED = CALIBRATION;
btn = btn_SHARED;
taskEXIT_CRITICAL();
}
while(!btn)
{
vTaskDelay(configMS_TO_TICKS (200));
taskENTER_CRITICAL();
state_SHARED = AWAITING_TARG;
btn = btn_SHARED;
taskEXIT_CRITICAL();
}
portTickType xLastWakeTime;
xLastWakeTime = xTaskGetTickCount();
while(1)
{
taskENTER_CRITICAL();
btn = btn_SHARED;
error = safety_error_SHARED;
taskEXIT_CRITICAL();
if(!error){
if(btn)
{
taskENTER_CRITICAL();
state_SHARED = SELECT_TARG;
taskEXIT_CRITICAL();
}
else
{
taskENTER_CRITICAL();
state_SHARED = TRACK_TARG;
taskEXIT_CRITICAL();
}
}
else
{
state_SHARED = ERROR;
}
vTaskDelayUntil(&xLastWakeTime, 200/portTICK_RATE_MS);
}
}
void task_master::run (void)
{
// Make a variable which will hold times to use for precise task scheduling
portTickType previousTicks = xTaskGetTickCount ();
//shared_adc0_state.put(OFF);
shared_adc1_state.put(READ_ONCE);
//shared_adc2_state.put(OFF);
shared_adc3_state.put(READ_ONCE);
shared_motor1_state.put( RUN );
shared_motor2_state.put( RUN );
for (;;)
{
shared_motor1_power.put( shared_adc3_value.get() - 512);
shared_motor2_power.put( shared_adc1_value.get() - 512);
delay_from_to (previousTicks, configMS_TO_TICKS (100));
}
}
