/*******************************************************************************
* Description: 开锁操作完成后，是否要查低电压报警
* 低电报警
*******************************************************************************/
int f_LowPowerAlarm(unsigned *pMsg)
{
// msg_t msg;
func_t func;
switch(((msg_t *)pMsg)->msgType)
{
case CMSG_TMR: /** 低电报警提示计时 **/
g_tick++;
if(g_tick >= 10)
{
GOTO_ALLOFF:
promptInit();
fstack_init(&g_fstack);
func.func = f_idle;
fstack_push(&g_fstack, &func);
g_tick = 0;
SetTimer_irq(&g_timer[0], TIMER_1SEC, CMSG_TMR);
//SetTimer_irq(&g_timer[0], TIMER_1SEC, CMSG_INIT);
All_Screen(0);
DISP_idle();
/*******************************************************************/
}
break;
case CMSG_INIT:
promptInit();
g_tick = 0;
SetTimer_irq(&g_timer[0], TIMER_1SEC, CMSG_TMR);
if(g_flag & (1 << 9)){ /** 查低电报警 **/
/** 报警提示 **/
vp_stor(CVOPID_POWERLOW);
promptDelay(TIMER_500MS);
DISP_lowPower();
} else {
goto GOTO_ALLOFF; /** 无报警动作，直接结束 **/
}
break;
case CPMT_OVER: /** 锁体操作过程结束 **/
promptInit();
bbbeep();
promptDelay(TIMER_500MS);
break;
default:
break;
}
return 0;
}
task main() {
// Prompt for delay
int delay = promptDelay();
// Localize external robot references
configureSensors(sensorIR, sensorSonar);
configureMotors(motorDriveLeft, motorDriveRight, motorArmPitch, motorElevator);
configureServos(servoArmGripper);
// Initialize
initialize();
// Wait for the FCS start signal
waitForStart();
// Wait the designated time
wait1Msec(delay*1000);
// Initial arm upwards movement
motor[refMotorArmPitch] = 75;
wait1Msec(1000);
motor[refMotorArmPitch] = 0;
// Start collision avoidance subsystem
StartTask(collisionAvoidance);
// Run autonomous B
autonomousB();
}
