Diff: main.cpp

Revision:

46:cf97e2ff152e

Parent:

45:ced6486325ab

--- a/main.cpp	Wed May 18 07:03:50 2022 +0000
+++ b/main.cpp	Thu May 19 11:55:37 2022 +0200
@@ -2,84 +2,34 @@
 
 #include "PM2_Libary.h"
 #include "Eigen/Dense.h"
-
+#include <cstdlib>
 # define M_PI 3.14159265358979323846  // number pi
 
 // workshop
-
-// logical variable main task
-bool do_execute_main_task = false;  // this variable will be toggled via the user button (blue button) to or not to execute the main task
-
-// user button on nucleo board
-Timer user_button_timer;            // create Timer object which we use to check if user button was pressed for a certain time (robust against signal bouncing)
-InterruptIn user_button(PC_13);     // create InterruptIn interface object to evaluate user button falling and rising edge (no blocking code in ISR)
-void user_button_pressed_fcn();     // custom functions which gets executed when user button gets pressed and released, definition below
-void user_button_released_fcn();
+InterruptIn user_button(PC_13);
+void user_button_pressed();
+Timer timer1;
+DigitalOut led1(LED1);
 
 int main()
 {
-    // while loop gets executed every main_task_period_ms milliseconds
-    const int main_task_period_ms = 10;   // define main task period time in ms e.g. 50 ms -> main task runns 20 times per second
-    Timer main_task_timer;                // create Timer object which we use to run the main task every main task period time in ms
-
-    // a coutner
-    uint32_t main_task_cntr = 0;
-
-    // led on nucleo board
-    DigitalOut user_led(LED1);      // create DigitalOut object to command user led
-
-    // attach button fall and rise functions to user button object
-    user_button.fall(&user_button_pressed_fcn);
-    user_button.rise(&user_button_released_fcn);
-
-    // start timer
-    main_task_timer.start();
+    const int main_task_period_ms = 10;
+    user_button.fall(&user_button_pressed);
+    timer1.start();
 
     while (true) { // this loop will run forever
 
-        main_task_timer.reset();
-        
-       
-        if (do_execute_main_task) {
-
-        } else {
-            
-        }
-
-        // user_led is switching its state every second
-        if ( (main_task_cntr%(1000 / main_task_period_ms) == 0) && (main_task_cntr!=0) ) {
-            user_led = !user_led;
-        }
-        main_task_cntr++;
-        
-        // do only output via serial what's really necessary (this makes your code slow)
-        /*
-        printf("IR sensor (mV): %3.3f, IR sensor (cm): %3.3f, SensorBar angle (rad): %3.3f, Speed M1 (rps) %3.3f, Position M2 (rot): %3.3f\r\n",
-               ir_distance_mV,
-               ir_distance_cm,
-               sensor_bar_avgAngleRad,
-               speedController_M1.getSpeedRPS(),
-               positionController_M2.getRotation());
-        */
-
-        // read timer and make the main thread sleep for the remaining time span (non blocking)
-        int main_task_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(main_task_timer.elapsed_time()).count();
-        thread_sleep_for(main_task_period_ms - main_task_elapsed_time_ms);
     }
 }
 
-void user_button_pressed_fcn()
-{
-    user_button_timer.start();
-    user_button_timer.reset();
-}
+void user_button_pressed()
+{    
+    int curTime = std::chrono::duration_cast<std::chrono::microseconds>(timer1.elapsed_time()).count();
+    if(curTime > 2000)
+    {
+        led1 =! led1;
+    }
+    timer1.reset();
+    timer1.start();
 
-void user_button_released_fcn()
-{
-    // read timer and toggle do_execute_main_task if the button was pressed longer than the below specified time
-    int user_button_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(user_button_timer.elapsed_time()).count();
-    user_button_timer.stop();
-    if (user_button_elapsed_time_ms > 200) {
-        do_execute_main_task = !do_execute_main_task;
-    }
-}
\ No newline at end of file
+}