static portTASK_FUNCTION(DriveTask, pvParameters) {
(void)pvParameters; /* parameter not used */
bool prevOn;
//traceLabel usrEvent;
prevOn = DRV_SpeedOn;
#if PL_HAS_RTOS_TRACE
//usrEvent = xTraceOpenLabel("drive");
#endif
for(;;) {
#if PL_HAS_RTOS_TRACE
//RTOSTRC1_vTraceUserEvent(usrEvent);
#endif
/*! \todo extend this for your own needs and with a position PID */
TACHO_CalcSpeed();
if (prevOn && !DRV_SpeedOn) { /* turned off */
MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_LEFT), 0);
MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_RIGHT), 0);
PID_Start(); /* reset values */
} else if (DRV_SpeedOn) {
PID_Speed(TACHO_GetSpeed(TRUE), DRV_SpeedLeft, TRUE); /* left */
PID_Speed(TACHO_GetSpeed(FALSE), DRV_SpeedRight, FALSE); /* right */
}
prevOn = DRV_SpeedOn;
FRTOS1_vTaskDelay(2/portTICK_RATE_MS);
} /* for */
}
static void DriveTask(void *pvParameters) {
portTickType xLastWakeTime;
(void)pvParameters;
xLastWakeTime = xTaskGetTickCount();
for(;;) {
while (GetCmd()==ERR_OK) { /* returns ERR_RXEMPTY if queue is empty */
/* process incoming commands */
}
TACHO_CalcSpeed();
if (DRV_Status.mode==DRV_MODE_SPEED) {
PID_Speed(TACHO_GetSpeed(TRUE), DRV_Status.speed.left, TRUE);
PID_Speed(TACHO_GetSpeed(FALSE), DRV_Status.speed.right, FALSE);
} else if (DRV_Status.mode==DRV_MODE_STOP) {
PID_Speed(TACHO_GetSpeed(TRUE), 0, TRUE);
PID_Speed(TACHO_GetSpeed(FALSE), 0, FALSE);
} else if (DRV_Status.mode==DRV_MODE_POS) {
PID_Pos(Q4CLeft_GetPos(), DRV_Status.pos.left, TRUE);
PID_Pos(Q4CRight_GetPos(), DRV_Status.pos.right, FALSE);
} else if (DRV_Status.mode==DRV_MODE_NONE) {
/* do nothing */
}
FRTOS1_vTaskDelayUntil(&xLastWakeTime, 5/portTICK_RATE_MS);
} /* for */
}
/*!
* \brief Prints the system low power status
* \param io I/O channel to use for printing status
*/
static void TACHO_PrintStatus(const CLS1_StdIOType *io) {
TACHO_CalcSpeed(); /*! \todo only temporary until this is done periodically */
CLS1_SendStatusStr((unsigned char*)"Tacho", (unsigned char*)"\r\n", io->stdOut);
CLS1_SendStatusStr((unsigned char*)" L speed", (unsigned char*)"", io->stdOut);
CLS1_SendNum32s(TACHO_GetSpeed(TRUE), io->stdOut);
CLS1_SendStr((unsigned char*)" steps/sec\r\n", io->stdOut);
CLS1_SendStatusStr((unsigned char*)" R speed", (unsigned char*)"", io->stdOut);
CLS1_SendNum32s(TACHO_GetSpeed(FALSE), io->stdOut);
CLS1_SendStr((unsigned char*)" steps/sec\r\n", io->stdOut);
}
void TACHO_Sample(void) {
#if 1
static int cnt = 0;
/* get called from the RTOS tick counter. Divide the frequency. */
cnt += portTICK_RATE_MS;
if (cnt < TACHO_SAMPLE_PERIOD_MS) {
return;
}
cnt = 0; /* reset counter */
/* left */
TACHO_LeftPosHistory[TACHO_PosHistory_Index] = Q4CLeft_GetPos();
TACHO_RightPosHistory[TACHO_PosHistory_Index] = Q4CRight_GetPos();
TACHO_PosHistory_Index++;
if (TACHO_PosHistory_Index >= NOF_HISTORY) {
TACHO_PosHistory_Index = 0;
}
/* \todo Temporary only! You will need to do this later before doing PID calculation */
TACHO_CalcSpeed();
#else
/*! \todo Implement function */
#endif
}
static portTASK_FUNCTION(DriveTask, pvParameters) {
(void)pvParameters; /* parameter not used */
bool prevOnS, prevOnP;
uint32_t i;
int32_t PosL,PosR;
uint32_t dL,dR;
uint32_t sL,sR;
//traceLabel usrEvent;
prevOnS = DRV_SpeedOn;
prevOnP = DRV_PosOn;
sL = 30000;
sR = 30000;
#if PL_HAS_RTOS_TRACE
//usrEvent = xTraceOpenLabel("drive");
#endif
for(;;) {
#if PL_HAS_RTOS_TRACE
//RTOSTRC1_vTraceUserEvent(usrEvent);
#endif
/*! \todo extend this for your own needs and with a position PID */
TACHO_CalcSpeed();
if (prevOnS && !DRV_SpeedOn) { /* speed turned off */
MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_LEFT), 0);
MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_RIGHT), 0);
PID_Start(); /* reset values */
} else if (DRV_SpeedOn && !DRV_PosOn) { /*speed control*/
PID_Speed(TACHO_GetSpeed(TRUE), DRV_SpeedLeft, TRUE); /* left */
PID_Speed(TACHO_GetSpeed(FALSE), DRV_SpeedRight, FALSE); /* right */
} else if (DRV_PosOn && !DRV_SpeedOn) { /*pos control*/
PosL = Q4CLeft_GetPos();
PosR = Q4CRight_GetPos();
dL = ((PosL-DRV_PosLeft)<=0) ? -(PosL-DRV_PosLeft) : (PosL-DRV_PosLeft);
dR = ((PosR-DRV_PosRight)<=0) ? -(PosR-DRV_PosRight) : (PosR-DRV_PosRight);
if(dL>100){
if((DRV_PosLeft-PosL)>0){
sL += 15;
} else{
sL -= 15;
}
} else{
sL = DRV_PosLeft;
}
if(dR>100){
if((DRV_PosRight-PosR)>0){
sR += 15;
} else{
sR -= 15;
}
} else{
sR = DRV_PosRight;
}
PID_Pos(PosL, sL, TRUE); //left
PID_Pos(PosR, sR, FALSE); //right
if((PosR < 1000) || (PosR > 63000)){ /*range safety*/
DRV_PosRight = 30000;
Q4CRight_SetPos(30000);
}
if((PosL < 1000) || (PosL > 63000)){
DRV_PosLeft = 30000;
Q4CLeft_SetPos(30000);
}
} else if(prevOnP && !DRV_PosOn){ /*pos turned off*/
MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_LEFT), 0);
MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_RIGHT), 0);
for(i=0;i<100000;i++);
DRV_PosLeft = 30000;
DRV_PosRight = 30000;
Q4CLeft_SetPos(30000);
Q4CRight_SetPos(30000);
}
prevOnS = DRV_SpeedOn;
prevOnP = DRV_PosOn;
FRTOS1_vTaskDelay(2/portTICK_RATE_MS);
} /* for */
}
