int main(void)
{
//The parameter structure must be created in the memory so that it exists
// when the task is started (see FreeRTOS documentation):
task_params *T1Parameters;
T1Parameters = pvPortMalloc(sizeof(task_params));
T1Parameters->period = T1_PERIOD;
T1Parameters->operation_count = T1_OPERATION_COUNT;
T1Parameters->GPIO_Pin = PA6;
task_params *T2Parameters;
T2Parameters = pvPortMalloc(sizeof(task_params));
T2Parameters->period = T2_PERIOD;
T2Parameters->operation_count = T2_OPERATION_COUNT;
T2Parameters->GPIO_Pin = PA5;
NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 ); //Needed for STM32F10x
ledinit();
xTaskCreate(Task,"Task1",128,T1Parameters,T1_Priority,&T1_handle);
xTaskCreate(Task,"Task2",128,T2Parameters,T2_Priority,&T2_handle);
//Task parameters are automatically cast as (void *) in function call.
vTaskStartScheduler(); //Finally, start the scheduler.
return 0;
}
int main()
{
//SYSTEMConfigPerformance(SYS_FREQ);
// Configure the device for maximum performance but do not change the PBDIV
// Given the options, this function will change the flash wait states, RAM
// wait state and enable prefetch cache but will not change the PBDIV.
// The PBDIV value is already set via the pragma FPBDIV option above..
SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
PORTFbits.RF1 = 0;
//Function that initializes all of the required I/O
initIO();
//Initialize all of the LED pins
ledinit();
adcConfigureAutoScan();
timersInit();
motorinit();
PWMinit();
motorRstop();
motorLstop();
leftspeed = 290;
rightspeed = 300;
while(PORTDbits.RD3 == 0)
{}
for(i = 0; i < 5000000; i++)
{
}
setpwmR(rightspeed);
setpwmL(leftspeed);
motorRfwd();
motorLfwd();
//turnright();
//turnleft();
while (1)
{}
return (EXIT_SUCCESS);
}
int main()
{
//SYSTEMConfigPerformance(SYS_FREQ);
// Configure the device for maximum performance but do not change the PBDIV
// Given the options, this function will change the flash wait states, RAM
// wait state and enable prefetch cache but will not change the PBDIV.
// The PBDIV value is already set via the pragma FPBDIV option above..
SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
PORTFbits.RF1 = 0;
//Function that initializes all of the required I/O
initIO();
//Initialize all of the LED pins
ledinit();
adcConfigureAutoScan();
timer1Init();
encodersInit();
motorinit();
PWMinit();
motorRstop();
motorLstop();
leftspeed = 310;
rightspeed = 300;
while(PORTDbits.RD3 == 0)
{}
for(i = 0; i < 5000000; i++)
{
}
setpwmR(rightspeed);
setpwmL(leftspeed);
motorRfwd();
motorLfwd();
//turnright();
//turnleft();
while (1)
{
if(readpins(0) > 300) //left
{
setpwmR(100);
for(i=0;i<800;i++);
/*
if(leftspeed < 315)
leftspeed++;
if(rightspeed > 275)
rightspeed--;
*/
setpwmR(rightspeed);
setpwmL(leftspeed);
motorRfwd();
motorLfwd();
}
//for(i = 0; i < 500; i++){};
//if (channel13 < 600)
if(readpins(2) > 600) //right
{
setpwmL(100);
for(i=0;i<800;i++);
/*
if(leftspeed > 265)
leftspeed--;
if(rightspeed < 325)
rightspeed++;
*/
setpwmR(rightspeed);
setpwmL(leftspeed);
motorRfwd();
motorLfwd();
}
//for(i = 0; i < 500; i++){};
//if (channel13 < 900)
if(readpins(1) > 900) //middle
{
setpwmR(0);
setpwmL(0);
motorRstop();
motorLstop();
turnright();
}
//for(i = 0; i < 1500; i++){};
}
return (EXIT_SUCCESS);
}
