void test_i2c(void)
{
initI2c(I2C_BUS_DEVICE);
writeConfig(BUTTONS3_ADDR, 0xCF);
writeOutputs(BUTTONS3_ADDR, 0x00);
delay(500);
writeOutputs(BUTTONS3_ADDR, 0x30);
}
/**
* @name processAutomatic(EngineData *inp)
* @param inp pointer to EngineData structure
* processes the whole sequence from reading inputs to writing outputs
*/
void TruthTableEngine::processAutomatic(EngineData *inp) {
readInputs(inp); // read inputs
preProcess(inp); // pre process into testbyte
process(inp); // search for valid combination
postProcess(inp); // copy result to output array
writeOutputs(inp); // write digital pins based on active levels
}
void act(void *args){
rt_task_set_periodic(NULL,TM_NOW,PLCperiod);
while(!stopped){
rt_sem_p(&executionDone,0);
/*
* Write outputs status
*/
writeOutputs(actuators);
rt_sem_v(&writeDone);
rt_task_wait_period(NULL);
}
}
void PWMController::run() {
//std::cout << "PWMController started" << std::endl;
while(1) {
// pollData();
// calculateOutputs();
// writeOutputs();
// std::this_thread::sleep_for(std::chrono::milliseconds(PWMLOOPTIME));
//}
while (!isKilled()) {
pollData();
calculateOutputs();
writeOutputs(false);
std::this_thread::sleep_for(std::chrono::milliseconds(PWMLOOPTIME));
}
stop();
std::cout << "KILLED" << std::endl;
while (isKilled()) {
pollData();
writeOutputs(true);
std::this_thread::sleep_for(std::chrono::milliseconds(PWMLOOPTIME));
}
_imuController->reset();
_xRotationController.reset();
_yRotationController.reset();
_zRotationController.reset();
_depthController.reset();
_xRotationController.start();
_yRotationController.start();
_zRotationController.start();
_depthController.start();
_pwm->enable();
std::cout << "ACTIVE" << std::endl;
}
}
void loop () {
readInputs ();
cycle ();
writeOutputs ();
}
