Allan Brignoli / Mbed 2 deprecated Rome2_P6

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Dependencies:   mbed

TaskWait.cpp@0:1a0321f1ffbc, 2018-05-18 (annotated)

Committer:
Brignall
Date:
Fri May 18 12:18:21 2018 +0000
Revision:
0:1a0321f1ffbc
lala;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Brignall 0:1a0321f1ffbc 1 /*
Brignall 0:1a0321f1ffbc 2 * TaskWait.cpp
Brignall 0:1a0321f1ffbc 3 * Copyright (c) 2018, ZHAW
Brignall 0:1a0321f1ffbc 4 * All rights reserved.
Brignall 0:1a0321f1ffbc 5 */
Brignall 0:1a0321f1ffbc 6
Brignall 0:1a0321f1ffbc 7 #include "TaskWait.h"
Brignall 0:1a0321f1ffbc 8
Brignall 0:1a0321f1ffbc 9 using namespace std;
Brignall 0:1a0321f1ffbc 10
Brignall 0:1a0321f1ffbc 11 /**
Brignall 0:1a0321f1ffbc 12 * Creates a task object that waits for a given duration.
Brignall 0:1a0321f1ffbc 13 */
Brignall 0:1a0321f1ffbc 14 TaskWait::TaskWait(Controller& controller, float duration) : controller(controller) {
Brignall 0:1a0321f1ffbc 15
Brignall 0:1a0321f1ffbc 16 this->duration = duration;
Brignall 0:1a0321f1ffbc 17
Brignall 0:1a0321f1ffbc 18 time = 0.0f;
Brignall 0:1a0321f1ffbc 19 }
Brignall 0:1a0321f1ffbc 20
Brignall 0:1a0321f1ffbc 21 /**
Brignall 0:1a0321f1ffbc 22 * Deletes the task object.
Brignall 0:1a0321f1ffbc 23 */
Brignall 0:1a0321f1ffbc 24 TaskWait::~TaskWait() {}
Brignall 0:1a0321f1ffbc 25
Brignall 0:1a0321f1ffbc 26 /**
Brignall 0:1a0321f1ffbc 27 * This method is called periodically by a task sequencer.
Brignall 0:1a0321f1ffbc 28 * @param period the period of the task sequencer, given in [s].
Brignall 0:1a0321f1ffbc 29 * @return the status of this task, i.e. RUNNING or DONE.
Brignall 0:1a0321f1ffbc 30 */
Brignall 0:1a0321f1ffbc 31 int TaskWait::run(float period) {
Brignall 0:1a0321f1ffbc 32
Brignall 0:1a0321f1ffbc 33 controller.setTranslationalVelocity(0.0f);
Brignall 0:1a0321f1ffbc 34 controller.setRotationalVelocity(0.0f);
Brignall 0:1a0321f1ffbc 35
Brignall 0:1a0321f1ffbc 36 time += period;
Brignall 0:1a0321f1ffbc 37
Brignall 0:1a0321f1ffbc 38 if (time < duration) {
Brignall 0:1a0321f1ffbc 39
Brignall 0:1a0321f1ffbc 40 return RUNNING;
Brignall 0:1a0321f1ffbc 41
Brignall 0:1a0321f1ffbc 42 } else {
Brignall 0:1a0321f1ffbc 43
Brignall 0:1a0321f1ffbc 44 return DONE;
Brignall 0:1a0321f1ffbc 45 }
Brignall 0:1a0321f1ffbc 46 }
Brignall 0:1a0321f1ffbc 47