From bfc8cd89bb85d68f4ec7460ff6749742d3fbd6c0 Mon Sep 17 00:00:00 2001
From: EnricoGuccii <partyka.003@proton.me>
Date: Sat, 30 May 2026 00:36:57 +0200
Subject: state machine

---
 src/main.cpp | 111 ++++++++++++++++++++++++++++++++++++++++++++++++-----------
 1 file changed, 91 insertions(+), 20 deletions(-)

(limited to 'src')

diff --git a/src/main.cpp b/src/main.cpp
index 891c11d..3ad9107 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -1,41 +1,112 @@
 #include <Arduino.h>
-// #include "esp32-hal.h"
 #include "motors.h"
 #include "rgb.h"
-#include "buzzer.h"
 
 #include "oled.h"
 #include "animations.h"
 
 
 RGB rgb;
-BUZZER buzzer;
 MOTORS motors; 
 OLED oled;
 
 
+TaskHandle_t TaskOled;
+TaskHandle_t TaskRgb;
+TaskHandle_t TaskMotors;
+
+enum State {
+  NEUTRAL,
+  HAPPY,
+  SAD,
+  ANGRY
+};
+
+volatile State currentState = NEUTRAL;
+
+void oledTask(void * pvParameters) {
+  for(;;) {
+    switch(currentState) {
+      case HAPPY:
+        oled.showAnimation(animacja1[0], animacja1FrameCount, animacja1Height, animacja1Width, 160);
+        break;
+      case SAD:
+        oled.showAnimation(animacja2[0], animacja2FrameCount, animacja2Height, animacja2Width, 160);
+        break;
+      case ANGRY:
+        oled.showMessage("angry");
+        break;
+      default:
+        oled.showMessage("neutral");
+        break;
+    }
+    vTaskDelay(10 / portTICK_PERIOD_MS); 
+  }
+}
+
+void rgbTask(void * pvParameters) {
+  for(;;) {
+    switch(currentState) {
+      case HAPPY:
+        rgb.setColorRGB(255, 250, 0, 100); 
+        rgb.blink(3, 300);
+        break;
+      case SAD:
+        rgb.breathe(3, 40); 
+        break;
+      case ANGRY:
+        rgb.setColorRGB(255, 0, 0, 100); 
+        rgb.blink(3, 300);
+        break;
+      default:
+        rgb.setColorRGB(0, 0, 0, true); 
+        break;
+    }
+    vTaskDelay(10 / portTICK_PERIOD_MS);
+  }
+}
+
+
+void motorsTask(void * pvParameters) {
+  for(;;) {
+    switch(currentState) {
+      case HAPPY:
+        motors.leftTurn(100,1000);
+        motors.rightTurn(100,1000);
+        break;
+      case SAD:
+        break;
+      case ANGRY:
+        motors.forward(100,1000);
+        motors.backward(100,1000);
+        break;
+      default:
+        break;
+    }
+    vTaskDelay(10 / portTICK_PERIOD_MS);
+  }
+}
 
 void setup() {
-  motors.init();
-  rgb.init();
-  
-  rgb.setColorRGB(0, 0, 0, true);
 
   oled.init();
-  delay(2000);
+  rgb.init();
+  motors.init();
+  
+  xTaskCreate(oledTask, "OLED Task", 4096, NULL, 1, NULL);
+  xTaskCreate(rgbTask, "RGB Task", 2048, NULL, 1, NULL);
+  xTaskCreate(motorsTask, "RGB Task", 2048, NULL, 1, NULL);
+  
+  currentState = NEUTRAL; 
 }
 
 void loop() {
-  oled.showAnimation(animacja1[0], animacja1FrameCount, animacja1Width,
-                     animacja1Height, 160);
-  oled.showAnimation(animacja1[0], animacja1FrameCount, animacja1Width + 20,
-                     animacja1Height, 50); // fajny efekt
-  // oled.showAnimation(animacja2[0], animacja2FrameCount, animacja2Width,
-  //                    animacja2Height, 160);
-  // oled.showAnimation(animacja2[0], animacja2FrameCount, animacja2Width,
-  //                    animacja2Height, 80);
-  rgb.rainbowCycle(2000, 7);
-
-  motors.rightForward(100,4000);
-  motors.leftForward(100,4000);
+  currentState = HAPPY;
+  delay(5000);
+  currentState = NEUTRAL;
+  delay(5000);
+  currentState = ANGRY;
+  delay(5000);
+  currentState = SAD;
+  delay(5000);
 }
-- 
cgit v1.2.3