Marco Oehler / Mbed OS Lab3

ROME2 Lab3

TaskWait.cpp@2:fc9e2aebf9d5, 2020-03-25 (annotated)

Committer:
oehlemar
Date:
Wed Mar 25 14:15:52 2020 +0000
Revision:
2:fc9e2aebf9d5
Parent:
0:6a4d3264c067 
final

Who changed what in which revision?

UserRevisionLine numberNew contents of line
oehlemar 0:6a4d3264c067 1 /*
oehlemar 0:6a4d3264c067 2 * TaskWait.cpp
oehlemar 0:6a4d3264c067 3 * Copyright (c) 2020, ZHAW
oehlemar 0:6a4d3264c067 4 * All rights reserved.
oehlemar 0:6a4d3264c067 5 */
oehlemar 0:6a4d3264c067 6
oehlemar 0:6a4d3264c067 7 #include "TaskWait.h"
oehlemar 0:6a4d3264c067 8
oehlemar 0:6a4d3264c067 9 using namespace std;
oehlemar 0:6a4d3264c067 10
oehlemar 0:6a4d3264c067 11 /**
oehlemar 0:6a4d3264c067 12 * Creates a task object that waits for a given duration.
oehlemar 0:6a4d3264c067 13 */
oehlemar 0:6a4d3264c067 14 TaskWait::TaskWait(Controller& controller, float duration) : controller(controller) {
oehlemar 0:6a4d3264c067 15
oehlemar 0:6a4d3264c067 16 this->duration = duration;
oehlemar 0:6a4d3264c067 17
oehlemar 0:6a4d3264c067 18 time = 0.0f;
oehlemar 0:6a4d3264c067 19 }
oehlemar 0:6a4d3264c067 20
oehlemar 0:6a4d3264c067 21 /**
oehlemar 0:6a4d3264c067 22 * Deletes the task object.
oehlemar 0:6a4d3264c067 23 */
oehlemar 0:6a4d3264c067 24 TaskWait::~TaskWait() {}
oehlemar 0:6a4d3264c067 25
oehlemar 0:6a4d3264c067 26 /**
oehlemar 0:6a4d3264c067 27 * This method is called periodically by a task sequencer.
oehlemar 0:6a4d3264c067 28 * @param period the period of the task sequencer, given in [s].
oehlemar 0:6a4d3264c067 29 * @return the status of this task, i.e. RUNNING or DONE.
oehlemar 0:6a4d3264c067 30 */
oehlemar 0:6a4d3264c067 31 int TaskWait::run(float period) {
oehlemar 0:6a4d3264c067 32
oehlemar 0:6a4d3264c067 33 controller.setTranslationalVelocity(0.0f);
oehlemar 0:6a4d3264c067 34 controller.setRotationalVelocity(0.0f);
oehlemar 0:6a4d3264c067 35
oehlemar 0:6a4d3264c067 36 time += period;
oehlemar 0:6a4d3264c067 37
oehlemar 0:6a4d3264c067 38 if (time < duration) {
oehlemar 0:6a4d3264c067 39
oehlemar 0:6a4d3264c067 40 return RUNNING;
oehlemar 0:6a4d3264c067 41
oehlemar 0:6a4d3264c067 42 } else {
oehlemar 0:6a4d3264c067 43
oehlemar 0:6a4d3264c067 44 return DONE;
oehlemar 0:6a4d3264c067 45 }
oehlemar 0:6a4d3264c067 46 }
oehlemar 0:6a4d3264c067 47