added sweat mechanism

1 files changed, 28 insertions, 4 deletions

diff --git a/src/main.cpp b/src/main.cpp
index 2e9aa7c..980029f 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -20,10 +20,7 @@ RoboEyes<Adafruit_SSD1306> roboEyes(display);
 RGB rgb;

 MOTORS motors; 

 

-TaskHandle_t TaskOled;

-TaskHandle_t TaskRgb;

-TaskHandle_t TaskMotors;

-TaskHandle_t TaskWiFi;

+TaskHandle_t TaskOled, TaskRgb, TaskMotors, TaskWiFi, TaskLogic;

 

 enum RobotEmotion {

   MANUAL,

@@ -35,6 +32,10 @@ enum RobotEmotion {
 

 volatile RobotEmotion currentState = E_NEUTRAL;

 

+

+volatile int fatigueLevel = 0;

+volatile bool isTired = false;

+

 volatile char manualMotors = '0';

 volatile char manualRGB = '0';

 

@@ -104,6 +105,27 @@ void wifiTask(void * pvParameters) {
   }

 }

 

+/*================================= LOGIC =================================*/

+

+void robotLogicTask(void * pvParameters) {

+  for(;;) {

+

+  if (currentState == MANUAL && manualMotors != '0') {

+      fatigueLevel++;

+    } else {

+      if (fatigueLevel > 0) fatigueLevel--;

+    }

+

+    if (fatigueLevel >= 100 ) {

+      isTired = true;

+    } else if (fatigueLevel == 0) {

+       isTired = false;

+    }

+

+    vTaskDelay(100 / portTICK_PERIOD_MS); 

+  }

+}

+

 /*================================= OLED =================================*/

 void oledSetup(){

   Wire.begin(SDA_PIN, SCL_PIN);

@@ -148,6 +170,7 @@ void oledTask(void * pvParameters) {
           break;

       }

     }

+    roboEyes.setSweat(isTired);

     roboEyes.update(); 

     vTaskDelay(20 / portTICK_PERIOD_MS); 

   }

@@ -253,6 +276,7 @@ void setup() {
   xTaskCreate(rgbTask, "RGB Task", 2048, NULL, 1, &TaskRgb);

   xTaskCreate(motorsTask, "Motors Task", 2048, NULL, 1, &TaskMotors);

   xTaskCreate(wifiTask, "WiFi Task", 4096, NULL, 1, &TaskWiFi);

+  xTaskCreate(robotLogicTask, "Logic Task", 2048, NULL, 1, &TaskLogic);

   

   currentState = MANUAL; 

   vTaskDelay(5000 / portTICK_PERIOD_MS);