Void roveMotorControlTester(UArg arg0, UArg arg1) {
const uint8_t FOREVER = 1;
char messageBuffer[35] = "This is a test of motor control";
int messageSize = 32;
int speed = 0;
int loopCount = 0;
//extern UART_Handle uart0;
//extern UART_Handle uart1;
extern UART_Handle uart2;
extern UART_Handle uart3;
extern UART_Handle uart4;
extern UART_Handle uart5;
extern UART_Handle uart6;
extern UART_Handle uart7;
System_printf("messageBuffer holds %s \n", messageBuffer);
System_flush();
System_printf("messageSize holds %d \n", messageSize);
System_flush();
System_printf("speed holds %d \n", speed);
System_flush();
System_printf("Starting motor control diagnostic\n");
System_flush();
//config the MC for safe test protection modes
//^MMOD 1 0_ Set to Open Loop Mode
//^ALIM 1 250_ Set Max Amps to 25A
char configMessageBuffer[] = "^MMOD 1 0_^ALIM 1 250_";
int configMessageSize = sizeof(configMessageBuffer);
//deviceWrite(ONBOARD_ROVECOMM, configMessageBuffer, configMessageSize);
while (FOREVER) {
if (speed > 900) {
speed = 0;
} //endif: (speed > 900)
speed = speed + 10;
ms_delay(100);
messageSize = generateMotorCommand(speed, messageBuffer);
System_printf("messageBuffer holds %s \n", messageBuffer);
System_flush();
System_printf("messageSize holds %d \n", messageSize);
System_flush();
System_printf("speed holds %d \n", speed);
System_flush();
// #define ONBOARD_ROVECOMM 19
// UART2 U2TX PA7
//deviceWrite(ONBOARD_ROVECOMM, messageBuffer, (messageSize - 1));
ms_delay(100);
loopCount = loopCount + 1;
System_printf("Finished testing loop number %d \n", loopCount);
System_flush();
} //endwhile (FOREVER)
} //endfnctn Task roveMotorControlTester
uint8 generateReadjustCCW(char* out, uint8 buflen, uint8 wifly){
return generateMotorCommand(out, buflen, wifly, 0x07, 0);
}
uint8 generateStop(char* out, uint8 buflen, uint8 wifly){
return generateMotorCommand(out, buflen, wifly, 0x02, 0);
}
uint8 generateTurnCCW(char* out, uint8 buflen, uint8 wifly, uint8 degrees){
return generateMotorCommand(out, buflen, wifly, 0x04, degrees);
}
uint8 generateStartBackward(char* out, uint8 buflen, uint8 wifly, uint8 speed){
return generateMotorCommand(out, buflen, wifly, 0x01, speed);
}
