ajout module_mouvement
Dependencies: mbed xbee_lib ADXL345_I2C IMUfilter ITG3200 Motor RangeFinder Servo mbos PID
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main.cpp
- Committer:
- arnaudsuire
- Date:
- 2013-04-22
- Revision:
- 30:8374d1017296
- Parent:
- 10:c8d73680b9fd
File content as of revision 30:8374d1017296:
/* Copyright (c) 2012 - 2013 Gaëtan PLEYBER * * THIS SOFTWARE IS PROVIDED BY THE AUTHOR "AS IS" AND ANY EXPRESS OR IMPLIED * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT * SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT * OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ /* * Description * Input * Output */ /*#include "mbed.h" #include "mbos.h" DigitalOut myled(LED1); int main() { while(1) { myled = 1; wait(0.2); myled = 0; wait(0.2); //modification } }*/ #include "mbed.h" #include "mbos.h" #include "Module_Mouvement.h" #define TASK1_ID 1 // Id for task 1 (idle task is 0) #define TASK1_PRIO 50 // priority for task 1 #define TASK1_STACK_SZ 32 // stack size for task 1 in words #define TASK2_ID 2 // Id for task 2 #define TASK2_PRIO 60 // priority for task 2 #define TASK2_STACK_SZ 32 // stack size for task 2 in words #define TIMER0_ID 0 // Id for timer 0 #define TIMER0_PERIOD 1000 // Time period in milliseconds #define TIMER0_EVENT 1 // Event flag (1 << 0) #define T1_TO_T2_EVENT 2 // Event flag (1 << 1) void task1(void); // task function prototypes void task2(void); DigitalOut led1(LED1); DigitalOut led2(LED2); mbos os(2, 1); // Instantiate mbos with 2 tasks & 1 timer //ModuleMouvement toto; //ModuleMouvement toto1; ModuleMouvement toto2; int main(void) { // Configure tasks and timers /* os.CreateTask(TASK1_ID, TASK1_PRIO, TASK1_STACK_SZ, task1); os.CreateTask(TASK2_ID, TASK2_PRIO, TASK2_STACK_SZ, task2); os.CreateTimer(TIMER0_ID, TIMER0_EVENT, TASK1_ID); // Start mbos os.Start();*/ // never return! //test motor toto2.TestMotor(); } void task1(void) { os.SetTimer(TIMER0_ID, TIMER0_PERIOD, TIMER0_PERIOD); while(1){ os.WaitEvent(TIMER0_EVENT); led1 = !led1; os.SetEvent(T1_TO_T2_EVENT, TASK2_ID); } } void task2(void) { while(1){ os.WaitEvent(T1_TO_T2_EVENT); led2 = 1; wait_ms(100); led2 = 0; } } /*@endcode */