Szilárd Greszler / robotkocsi

Controller firmware for a mobile robot, having a K64F MCU on board. Please read README.md for details.

Dependents:   robotkocsi_OS

demo.cpp@0:260ca1f1cba7, 2018-05-30 (annotated)

Committer:
dralisz82
Date:
Wed May 30 15:10:20 2018 +0000
Revision:
0:260ca1f1cba7
Controller firmware for a mobile robot, having a K64F MCU on board.; ; See README.md for details;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dralisz82 0:260ca1f1cba7 1 #include "demo.h"
dralisz82 0:260ca1f1cba7 2
dralisz82 0:260ca1f1cba7 3 Demo::Demo() {}
dralisz82 0:260ca1f1cba7 4 Demo::Demo(Drive* drive, Lights* lights) {
dralisz82 0:260ca1f1cba7 5 this->drive = drive;
dralisz82 0:260ca1f1cba7 6 this->lights = lights;
dralisz82 0:260ca1f1cba7 7
dralisz82 0:260ca1f1cba7 8 demoThread = 0;
dralisz82 0:260ca1f1cba7 9 // initialize flags
dralisz82 0:260ca1f1cba7 10 f_run = false;
dralisz82 0:260ca1f1cba7 11 printf("Demo created\n");
dralisz82 0:260ca1f1cba7 12 }
dralisz82 0:260ca1f1cba7 13
dralisz82 0:260ca1f1cba7 14 Demo::~Demo() {
dralisz82 0:260ca1f1cba7 15 delete demoThread;
dralisz82 0:260ca1f1cba7 16 }
dralisz82 0:260ca1f1cba7 17
dralisz82 0:260ca1f1cba7 18 void Demo::demoThread_main(void const *argument) {
dralisz82 0:260ca1f1cba7 19 Demo* self = (Demo*)argument;
dralisz82 0:260ca1f1cba7 20 printf("Demo thread started\n");
dralisz82 0:260ca1f1cba7 21
dralisz82 0:260ca1f1cba7 22 Thread::wait(10000);
dralisz82 0:260ca1f1cba7 23 self->lights->headLightOn();
dralisz82 0:260ca1f1cba7 24 Thread::wait(1000);
dralisz82 0:260ca1f1cba7 25 self->drive->forward();
dralisz82 0:260ca1f1cba7 26 Thread::wait(500);
dralisz82 0:260ca1f1cba7 27 while(true) {
dralisz82 0:260ca1f1cba7 28 while(self->f_run) {
dralisz82 0:260ca1f1cba7 29 self->drive->forward();
dralisz82 0:260ca1f1cba7 30 self->drive->steerLeft();
dralisz82 0:260ca1f1cba7 31 Thread::wait(1000);
dralisz82 0:260ca1f1cba7 32 self->drive->stop();
dralisz82 0:260ca1f1cba7 33 Thread::wait(500);
dralisz82 0:260ca1f1cba7 34 self->drive->steerRight();
dralisz82 0:260ca1f1cba7 35 self->drive->backward();
dralisz82 0:260ca1f1cba7 36 Thread::wait(1500);
dralisz82 0:260ca1f1cba7 37 self->drive->stop();
dralisz82 0:260ca1f1cba7 38 Thread::wait(500);
dralisz82 0:260ca1f1cba7 39 }
dralisz82 0:260ca1f1cba7 40 printf("Demo thread paused\n");
dralisz82 0:260ca1f1cba7 41 Thread::wait(1000);
dralisz82 0:260ca1f1cba7 42 }
dralisz82 0:260ca1f1cba7 43 }
dralisz82 0:260ca1f1cba7 44
dralisz82 0:260ca1f1cba7 45 void Demo::playPause() {
dralisz82 0:260ca1f1cba7 46 f_run = !f_run;
dralisz82 0:260ca1f1cba7 47 if(demoThread == 0) {
dralisz82 0:260ca1f1cba7 48 printf("Launch Demo thread\n");
dralisz82 0:260ca1f1cba7 49 demoThread = new Thread(demoThread_main, this);
dralisz82 0:260ca1f1cba7 50 }
dralisz82 0:260ca1f1cba7 51 }
dralisz82 0:260ca1f1cba7 52
dralisz82 0:260ca1f1cba7 53 void Demo::reset() {
dralisz82 0:260ca1f1cba7 54 delete demoThread;
dralisz82 0:260ca1f1cba7 55 f_run = false;
dralisz82 0:260ca1f1cba7 56 printf("Demo thread terminated\n");
dralisz82 0:260ca1f1cba7 57 lights->headLightOff();
dralisz82 0:260ca1f1cba7 58 }