int mainControlLoop(void)
{
if (control_params.line_follow_state == TRUE)
{
lineFollowControlLoop();
control_params.position_state = FALSE;
control_params.wall_follow_state = FALSE;
// control_params.wall_follow_state = TRUE;
control_params.position_state = FALSE;
}
else if (control_params.wall_follow_state == TRUE)
{
wallFollowControlLoop();
// control_params.position_state = FALSE;
control_params.position_state = TRUE;
}
else
{
control_params.position_state = TRUE;
}
if (control_params.speed_state == TRUE)
speedControlLoop();
if (control_params.position_state == TRUE)
positionControlLoop();
transfertFunctionLoop();
return MAIN_CONTROL_E_SUCCESS;
}
int mainControl_IT(void)
{
int rv;
if (pid_loop.start_state == FALSE)
{
return MAIN_CONTROL_E_SUCCESS;
}
if (control_params.line_follow_state == TRUE)
{
rv = lineFollowControlLoop();
if (rv != LINE_FOLLOW_CONTROL_E_SUCCESS)
return rv;
rv = speedControlLoop();
if (rv != SPEED_CONTROL_E_SUCCESS)
return rv;
rv = transfertFunctionLoop();
if (rv != TRANSFERT_FUNCTION_E_SUCCESS)
return rv;
return MAIN_CONTROL_E_SUCCESS;
}
else if (control_params.wall_follow_state == TRUE)
{
rv = wallFollowControlLoop();
if (rv != WALL_FOLLOW_CONTROL_E_SUCCESS)
return rv;
}
rv = positionControlLoop();
if (rv != POSITION_CONTROL_E_SUCCESS)
return rv;
rv = speedControlLoop();
if (rv != SPEED_CONTROL_E_SUCCESS)
return rv;
rv = transfertFunctionLoop();
if (rv != TRANSFERT_FUNCTION_E_SUCCESS)
return rv;
return MAIN_CONTROL_E_SUCCESS;
}